TY - JOUR
T1 - Discrete-status-based localization for indoor service robots
AU - Lee, Dongheui
AU - Chung, Woojin
N1 - Funding Information:
Manuscript received July 10, 2005; revised March 16, 2006. Abstract published on the Internet July 14, 2006. This work was supported by the Ministry of Science and Technology of Korea under one of the 21st Century Frontier R&D Programs—The Intelligent Robotics Development Program. D. Lee is with the Department of Mechano-Informatics, University of Tokyo, Tokyo 113-0033, Japan (e-mail: dhlee@ynl.t.u-tokyo.ac.jp). W. Chung is with the Department of Mechanical Engineering, Korea University, Seoul 136-713, Korea (e-mail: smartrobot@korea.ac.kr). Digital Object Identifier 10.1109/TIE.2006.881949
PY - 2006/10
Y1 - 2006/10
N2 - This paper proposes a new localization strategy for indoor service robots. A mobile robot localization problem is difficult to solve by a single continuous algorithm. Major difficulties include dynamic changes of the real world, various uncertainties, limitation of sensor information, and so forth. To develop a practical localization solution, this paper proposes an integrated localization strategy based on the discrete status of the mobile robot. Uncertainties of navigation are specified and classified into discrete status, and then modeled as a Petri net-based discrete localization system. The proposed algorithm integrates developed computational schemes and robot behaviors with respect to the defined status. Major criteria of status discretization include geometric properties of the environment, existence of dynamic obstacles, and reliability level of the estimated position. An efficient map-matching scheme and a map-building strategy are developed toward practical implementations. This paper focuses on providing a synthesized practical localization method, which can deal with various uncertainties by explicit discretization of robot status. The feasibility of the proposed method is experimentally verified with prototype public service robots in dynamic real environments.
AB - This paper proposes a new localization strategy for indoor service robots. A mobile robot localization problem is difficult to solve by a single continuous algorithm. Major difficulties include dynamic changes of the real world, various uncertainties, limitation of sensor information, and so forth. To develop a practical localization solution, this paper proposes an integrated localization strategy based on the discrete status of the mobile robot. Uncertainties of navigation are specified and classified into discrete status, and then modeled as a Petri net-based discrete localization system. The proposed algorithm integrates developed computational schemes and robot behaviors with respect to the defined status. Major criteria of status discretization include geometric properties of the environment, existence of dynamic obstacles, and reliability level of the estimated position. An efficient map-matching scheme and a map-building strategy are developed toward practical implementations. This paper focuses on providing a synthesized practical localization method, which can deal with various uncertainties by explicit discretization of robot status. The feasibility of the proposed method is experimentally verified with prototype public service robots in dynamic real environments.
KW - Discrete status
KW - Discrete-event control
KW - Indoor service robots
KW - Map building
KW - Mobile robot localization
UR - http://www.scopus.com/inward/record.url?scp=33750097183&partnerID=8YFLogxK
U2 - 10.1109/TIE.2006.881949
DO - 10.1109/TIE.2006.881949
M3 - Article
AN - SCOPUS:33750097183
SN - 0278-0046
VL - 53
SP - 1737
EP - 1746
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 5
ER -