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Mowing with Range



Overview


In this project, we develop an autonomous lawn mower using ranging radios for state estimation.

Abstract


In this project we present results in mobile robot localization and simultaneous localization and mapping (SLAM) using range from radio. Our experience with the conventional Extended Kalman Filter(EKF) that linearizes probability distribution due to range measurements based on prior estimates was that the Filter could perform poorly and even diverge in cases of missing data and poor initialization. We present its implementation on a high precision lawn mowing system.

Links


Project Poster (pdf)

Djugash, Joseph, and Sanjiv Singh. "A robust method of localization and mapping using only range." Experimental Robotics. Springer Berlin Heidelberg, 2009.(pdf)