Localization of outdoor mobile robots using road features

Donghyeon Kim, Woojin Chung

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

3 Citations (Scopus)

Abstract

It is required lots of sensor systems to deal with general environmental uncertainties. However, in semi-structured outdoor environments, such as paved road, the environmental uncertainties are generally lower than that of the general environments. As a result, it can be dealt with a single Laser Range Finder by using the utilizations of curb-detection in the semi-structured environments. In this paper, we presented outdoor mobile robot localization scheme by exploiting the detected curb information. For localization, we used data of robot's odometry, DGPS, and compass was combined using Extended Kalman Filter. The data of extracted curb was also used. Using the data of curb, we can get more reliable localization results and suggest algorithm showing better localization performance than that of result from using only DGPS and compass in area in which DGPS's error is large.

Original languageEnglish
Title of host publicationURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
Pages363-365
Number of pages3
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011 - Incheon, Korea, Republic of
Duration: 2011 Nov 232011 Nov 26

Publication series

NameURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence

Other

Other2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
CountryKorea, Republic of
CityIncheon
Period11/11/2311/11/26

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Keywords

  • Curb Detection
  • Extended Kalman Filter
  • Outdoor Localization

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications

Cite this

Kim, D., & Chung, W. (2011). Localization of outdoor mobile robots using road features. In URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (pp. 363-365). [6145997] (URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence). https://doi.org/10.1109/URAI.2011.6145997