APPROXIMATION ALGORITHM LOCALIZATION MOBILE ROBOT WITH USING WINDOWS IN POLYGON MAP

Approximation algorithm for the robot localization problem with the map in the form of a simple polygon is considered. Hypotheses localization correspond to copies maps from assumed mark of robot’s position. The algorithm is based on using overlay and intersection copies maps. At the intersection so-called windows are segregated, “looking” in which the robot eliminates false hypotheses. On the basis of their program implementation conducted experimental studies of these algorithms. The numerical results and their interpretation are given.

Authors: Dаo Duy Nam, S. A. Ivanovskiy

Direction: Informatics, management and Computer Technology

Keywords: Computational geometry, robotics, robot localization, overlay polygon, algorithm complexity, approximation algorithm

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