Localization of a patrol robot using curb feature in road environment

Hyunsuk Lee, Woo Jin Chung

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

Abstract

Patrol robots to perform specific service in environment travel the same path repeatedly based on map. For the safe navigation of patrol robots, environment recognition and precise localization should be necessary. In outdoor environment, it is generally using expensive equipment and many sensors for environmental recognition and localization. However, complex system configuration and increase in costs of robot are required. Furthermore, in urban road environment, the precision of GPS is reduced by high structures. In order to solve these problems, we propose localization algorithm using the curb feature. An onboard LRF is used to extract curb. The extracted curb is matched with line map and fused by Extend Kalman Filter with odometry and DGPS measurement. We verify the robustness of the proposed algorithm by experiment, although the large DGPS error occurs due to the buildings.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
Pages1525-1527
Number of pages3
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
Duration: 2013 Oct 202013 Oct 23

Other

Other2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
CountryKorea, Republic of
CityGwangju
Period13/10/2013/10/23

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Keywords

  • Curb Extraction
  • Extended Kalman Filter
  • Outdoor localization

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Lee, H., & Chung, W. J. (2013). Localization of a patrol robot using curb feature in road environment. In International Conference on Control, Automation and Systems (pp. 1525-1527). [6704129] https://doi.org/10.1109/ICCAS.2013.6704129