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Conference Paper Sonar Grid Map Based Localization for Autonomous Mobile Robots
Cited 12 time in scopus Share share facebook twitter linkedin kakaostory
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
DOI
https://dx.doi.org/10.1109/MESA.2008.4735731
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