ETRI-Knowledge Sharing Plaform

ENGLISH

성과물

논문 검색
구분 SCI
연도 ~ 키워드

상세정보

학술대회 Sonar Grid Map Based Localization for Autonomous Mobile Robots
Cited 12 time in scopus Download 0 time Share share facebook twitter linkedin kakaostory
저자
이유철, 유원필, 임종환, 정완균, 조동우
발행일
200812
출처
International Conference on Mechatronic and Embedded Systems and applications (MESA) 2008, pp.558-563
DOI
https://dx.doi.org/10.1109/MESA.2008.4735731
협약과제
08MC5400, u-Robot 인지인프라 기술개발(주관 : u-City 환경기반 하이브리드 u-로봇 서비스 시스템 기술개발), 유원필
초록
A mobile robot must be able to build a reliable map of surroundings and estimate its position. We have developed a technique for a grid-based localization of a mobile robot with ultrasonic sensors using Extended Kalman Filter (EKF). For this, we used grids themselves as landmarks of the evironment. The grid-based localization can minimize the use f computer resources for localization because this approach does not rely on exact geometric representation of a landmark. Experiments were performed in a real environment to verify the methodology developed in this study, and the results indicate that the grid-based localization can be useful for a practical application. © 2008 IEEE.
KSP 제안 키워드
Autonomous mobile robots, Extended kalman fiLTEr, Geometric representation, Grid Map, Grid-based, Real environment, practical application, ultrasonic sensor