Mobile robot localization using indistinguishable artificial landmarks

Jihoon Seong, Jiwoong Kim, Woo Jin Chung

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

4 Citations (Scopus)

Abstract

Owing to the presence of multiple obstacles or changes in the positions of surroundings objects, the localization of a mobile robot using only natural landmarks is difficult in indoor environments. Consequently, in these environments, the use of artificial landmarks to achieve robust localization is necessary. To this end, we propose a global localization method for mobile robots, using reflectors as indistinguishable artificial landmarks, not the manmade signs have a certain pattern. In previous studies, it has been shown that localization is possible using information about the distance between indistinguishable artificial landmarks. We applied this principle in a real-world situation with many obstacles or in a dynamic environment and confirmed that robust, high-accuracy global localization is possible.

Original languageEnglish
Title of host publication2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
PublisherIEEE Computer Society
Pages222-224
Number of pages3
DOIs
Publication statusPublished - 2013 Jan 1
Event2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of
Duration: 2013 Oct 302013 Nov 2

Other

Other2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
CountryKorea, Republic of
CityJeju
Period13/10/3013/11/2

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Keywords

  • Distance Information
  • Global Localization
  • Indistinguishable Artificial Landmarks
  • Reflector

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Seong, J., Kim, J., & Chung, W. J. (2013). Mobile robot localization using indistinguishable artificial landmarks. In 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 (pp. 222-224). [6677347] IEEE Computer Society. https://doi.org/10.1109/URAI.2013.6677347