Autonomous Map Building and Smart Localization of the Service Robot PSR

Dongheui Lee, Woojin Chung, Munsang Kim

Research output: Contribution to conferencePaper

16 Citations (Scopus)

Abstract

In this paper, an autonomous map building method and an intelligent position estimation method for an indoor service robot are presented. Map building is composed of three processes: (1) environmental information gathering, (2) scan registration, and (3) grid map building. A grid map of the environment can be successfully generated using the proposed strategy. Previously [9] we proposed a localization method which is a map-matching scheme using scanned range data, without using any artificial landmarks. In this paper, an extended localization method called smart localization is presented. Smart localization includes the Petri net based discrete event control concept as well as the position estimation scheme using map matching. A mobile robot is able to act intelligently even if various real world problems arise when using discrete event control. For example, when the robot is unable to compute its position, discrete event based error handling logics are activated according to the predetermined behavioral configuration. Experimental results demonstrate the validity and feasibility of the proposed algorithm for a service robot to navigate in an office building.

Original languageEnglish
Pages454-459
Number of pages6
Publication statusPublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Lee, D., Chung, W., & Kim, M. (2003). Autonomous Map Building and Smart Localization of the Service Robot PSR. 454-459. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.