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Issue No. 02 - February (1987 vol. 9)
ISSN: 0162-8828
pp: 325-332
Michael Drumheller , Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139; Machines Corporation, 245 First Street, Cambridge, MA 02142.
This correspondence describes a method by which range data from a sonar rangefinder can be used to determine the two-dimensional position and orientation of a mobile robot inside a room. The plan of the room is modeled as a list of segments indicating the positions of walls. The algorithm works by correlating straight segments in the range data against the room model, then eliminating implausible configurations using the sonar barrier test, which exploits physical constraints on sonar data. The approach is extremely tolerant of noise and clutter. Transient objects such as furniture and people need not be included in the room model, and very noisy, low-resolution sensors can be used. The algorithm's performance is demonstrated using a Polaroid Ultrasonic Rangefinder.

M. Drumheller, "Mobile Robot Localization Using Sonar," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 9, no. , pp. 325-332, 1987.
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