BROWSE
Detail
Conference Paper
Sonar Grid Map Based Localization for Autonomous Mobile Robots
Cited 12 time in 
Share 
Share
- Authors
- Yu-Cheol Lee, Won Pil Yu, Jong-Hwan Lim, Wan-Kyun Chung, Dong-Woo Cho
- Issue Date
- 2008-12
- Citation
- International Conference on Mechatronic and Embedded Systems and applications (MESA) 2008, pp.558-563
- Language
- English
- Type
- Conference Paper
- Abstract
- 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 Keywords
- Autonomous mobile robots, Geometric representation, Grid Map, Grid-based, Real environment, Ultrasonic sensors, extended kalman filter, practical application