Map representation using hidden markov models for mobile robot localization

摘要

This paper describes a map representation and localization system for a mobile robot based on Hidden Markov Models. These models are used not only to find a region where a mobile robot is, but also they find the orientation that it has. It is shown that an estimation of the region where the robot is located can be found using the Viterbi algorithm with quantized laser readings, i.e. symbol observations, of a Hidden Markov Model.