TY - GEN
T1 - Design of a sensor model and semi-global localization of a mobile service robot
AU - Chung, Woojin
AU - Moon, Chang Bae
AU - Kim, Kyoung Rok
AU - Song, Jae Bok
PY - 2006
Y1 - 2006
N2 - A mobile robot localization problem can be classified into three key issues: A sensor model, a motion model and a fusion / filtering technique. So far, we have developed range sensor based, integrated localization scheme, which can be used in human-coexisting real environment such as a science museum and office buildings. From those experiences, we found out that there are several significant issues to solve practical localization problems. In this paper, we focus on three key issues, and then illustrate our solutions to the presented problems. Three issues are listed as follows: (1) Investigation of design requirements of a desirable sensor model, and performance analysis of our design (2) Performance evaluation of the localization result by computing the matching error (3) The semi-global localization scheme to deal with localization failure due to abrupt wheel slippage In this paper, we show the significance of each concept, developed solutions and the experimental results. Experiments were carried out in a typical modern building environment, and the results clearly show that the proposed solutions are useful to develop practical, integrated localization schemes.
AB - A mobile robot localization problem can be classified into three key issues: A sensor model, a motion model and a fusion / filtering technique. So far, we have developed range sensor based, integrated localization scheme, which can be used in human-coexisting real environment such as a science museum and office buildings. From those experiences, we found out that there are several significant issues to solve practical localization problems. In this paper, we focus on three key issues, and then illustrate our solutions to the presented problems. Three issues are listed as follows: (1) Investigation of design requirements of a desirable sensor model, and performance analysis of our design (2) Performance evaluation of the localization result by computing the matching error (3) The semi-global localization scheme to deal with localization failure due to abrupt wheel slippage In this paper, we show the significance of each concept, developed solutions and the experimental results. Experiments were carried out in a typical modern building environment, and the results clearly show that the proposed solutions are useful to develop practical, integrated localization schemes.
KW - Mobile robot
KW - Navigation
KW - Range sensor based localization
KW - Sensor model design
UR - http://www.scopus.com/inward/record.url?scp=34250734576&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250734576&partnerID=8YFLogxK
U2 - 10.1109/SICE.2006.314833
DO - 10.1109/SICE.2006.314833
M3 - Conference contribution
AN - SCOPUS:34250734576
SN - 8995003855
SN - 9788995003855
T3 - 2006 SICE-ICASE International Joint Conference
SP - 4260
EP - 4265
BT - 2006 SICE-ICASE International Joint Conference
T2 - 2006 SICE-ICASE International Joint Conference
Y2 - 18 October 2006 through 21 October 2006
ER -