Design of a sensor model and semi-global localization of a mobile service robot

Woojin Chung, Chang Bae Moon, Kyoung Rok Kim, Jae Bok Song

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

5 Citations (Scopus)


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 languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • 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


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