Estimación de la posición de un robot móvil

摘要

This paper reviews the methods for position estimation of mobile robots and autonomous vehicles. The paper introduces the position estimation problem and classifies the existing methods for solving it into explicit estimation methods and methods based on the environment perception. The explicit methods do not require acquisition and interpretation of robot environment information. These include dead reckoning techniques, inertial navigation systems, absolute position estimation based on transmission stations, paticularly the GPS, and triangulation techniques by using beacons. Position estimation methods based on the environment perception are also classified depending on the nature of the sensor: active (laser, sonars) and passive (video cameras). Furthermore, two different techniques are considered for matching environment data: feature based methods and iconic methods.