Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | 2006 SICE-ICASE International Joint Conference |
| Pages | 4260-4265 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2006 Dec 1 |
| Event | 2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of Duration: 2006 Oct 18 → 2006 Oct 21 |
Other
| Other | 2006 SICE-ICASE International Joint Conference |
|---|---|
| Country | Korea, Republic of |
| City | Busan |
| Period | 06/10/18 → 06/10/21 |
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Keywords
- Mobile robot
- Navigation
- Range sensor based localization
- Sensor model design
ASJC Scopus subject areas
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Design of a sensor model and semi-global localization of a mobile service robot. / Chung, Woo Jin; Moon, Chang Bae; Kim, Kyoung Rok; Song, Jae-Bok.
2006 SICE-ICASE International Joint Conference. 2006. p. 4260-4265 4108261.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Design of a sensor model and semi-global localization of a mobile service robot
AU - Chung, Woo Jin
AU - Moon, Chang Bae
AU - Kim, Kyoung Rok
AU - Song, Jae-Bok
PY - 2006/12/1
Y1 - 2006/12/1
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
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U2 - 10.1109/SICE.2006.314833
DO - 10.1109/SICE.2006.314833
M3 - Conference contribution
SN - 8995003855
SN - 9788995003855
SP - 4260
EP - 4265
BT - 2006 SICE-ICASE International Joint Conference
ER -