Environment potential field assisted active localization for mobile robot

摘要

An active localization method using the cues supplied by environment potential field is proposed.An potential field model with all of the landmarks in the enviroment as the field sources is established.Then,a set of candidate destinations for the robot is formed based on the positions where the window potential function or the enviroment potential function are local maximum.The destination is chosen from the set according to the evaluation function composed of the utility and cost of the action,and accordingly the direction of movement is determined.Finaly,the displacement and the sensing direction are obtained according to robot's locomotion ability and the evaluation function respectively.Simulation results show the effectiveness of the presented method.