상세정보
학술대회
Sonar Grid Map Based Localization for Autonomous Mobile Robots
- 발행일
- 200812
- 출처
- International Conference on Mechatronic and Embedded Systems and applications (MESA) 2008, pp.558-563
- 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