Development of an autonomous outdoor patrol robot in private road environment

Jiyong Jin, Changbae Jung, Donghyeon Kim, Woo Jin Chung

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

5 Citations (Scopus)

Abstract

Recently, the necessity of an autonomous outdoor patrol robot is increasing. The outdoor navigation is more difficult than an indoor navigation because the outdoor environment is more complex than the indoor environment. Various methods[1-2] for the outdoor navigation were researched. However, it is not easy to implement these methods[1-2], since these solutions require expensive sensors. In this paper, we compute the robot's pose by using Extended Kalman Filter[3], and extract the road information by using single Laser Range Finder(LRF). The localization, motion control, and the road information are used for a stable navigation. By using the proposed method, the autonomous outdoor patrol robot can navigate successfully in regular road environments.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages1918-1921
Number of pages4
Publication statusPublished - 2010 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: 2010 Oct 272010 Oct 30

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/10/2710/10/30

Fingerprint

Navigation
Robots
Range finders
Extended Kalman filters
Motion control
Lasers
Sensors

Keywords

  • EKF localization
  • Path tracking
  • Road detection
  • Sensor fusion

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Jin, J., Jung, C., Kim, D., & Chung, W. J. (2010). Development of an autonomous outdoor patrol robot in private road environment. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 1918-1921). [5670198]

Development of an autonomous outdoor patrol robot in private road environment. / Jin, Jiyong; Jung, Changbae; Kim, Donghyeon; Chung, Woo Jin.

ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 1918-1921 5670198.

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

Jin, J, Jung, C, Kim, D & Chung, WJ 2010, Development of an autonomous outdoor patrol robot in private road environment. in ICCAS 2010 - International Conference on Control, Automation and Systems., 5670198, pp. 1918-1921, International Conference on Control, Automation and Systems, ICCAS 2010, Gyeonggi-do, Korea, Republic of, 10/10/27.
Jin J, Jung C, Kim D, Chung WJ. Development of an autonomous outdoor patrol robot in private road environment. In ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 1918-1921. 5670198
Jin, Jiyong ; Jung, Changbae ; Kim, Donghyeon ; Chung, Woo Jin. / Development of an autonomous outdoor patrol robot in private road environment. ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. pp. 1918-1921
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