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학술대회 Sonar Grid Map Based Localization for Autonomous Mobile Robots
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이유철, 유원필, 임종환, 정완균, 조동우
International Conference on Mechatronic and Embedded Systems and applications (MESA) 2008, pp.558-563
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