Dependable localization strategy in dynamic real environments

Dongheui Lee, Woo Jin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

Due to dynamic changes of an environment and various kinds of uncertainties in a real world, mobile robot localization is difficult to be solved by a single continuous algorithm. In order to achieve a practical localization solution generally, this paper proposes a strategy to deal with various uncertainties using explicit discretization of robot's status. Discrete status of localization is designed with three criteria as follows: (i) polygonal environment and non-polygonal environment, (ii) static environment and dynamic environment, and (iii) global positioning problem and local tracking problem are defined. An appropriate strategy is adopted according to the robot's status. The feasibility of the proposed method is demonstrated by simulation results.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages860-865
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2005 Aug 22005 Aug 6

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period05/8/205/8/6

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Lee, D., & Chung, W. J. (2005). Dependable localization strategy in dynamic real environments. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 860-865). [1545088] https://doi.org/10.1109/IROS.2005.1545088