Date of Award
Wu, Dan (School of Computer Science)
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Mobile robot localization is one of the most important problems in robotics research. A number of successful localization solutions have been proposed, among them, the well-known and popular Monte Carlo Localization (MCL) method. However, in all these methods, the robot itself does not carry a notion whether it has or has not been localized, and the success or failure of localization is judged by normally a human operator of the robot. In this paper, we put forth a novel method to bring consciousness to a mobile robot so that the robot can judge by itself whether it has been localized or not without any intervention from human operator. In addition, the robot is capable to notice the change between global localization and position tracking, hence, adjusting itself based on the status of localization. A mobile robot with consciousness being localized is obviously more autonomous and intelligent than one without.
Chen, Jingxi, "Bring Consciousness to Mobile Robot Being Localized" (2009). Electronic Theses and Dissertations. 318.