Mobile robot localization using range sensors: Consecutive scanning and cooperative scanning

Sooyong Lee, Jae-Bok Song

Research output: Contribution to journalArticle

17 Citations (Scopus)

Abstract

This paper presents an obstacle detection algorithm based on the consecutive and the cooperative range sensor scanning schemes. For a known environment, a mobile robot scans the surroundings using a range sensor that can rotate 360°. The environment is rebuilt using nodes of two adjacent walls. The robot configuration is then estimated and an obstacle is detected by comparing characteristic points of the sensor readings. In order to extract edges from noisy and inaccurate sensor readings, a filtering algorithm is developed. For multiple robot localization, a cooperative scanning method with sensor range limit is developed. Both are verified with simulation and experiments.

Original languageEnglish
Pages (from-to)1-14
Number of pages14
JournalInternational Journal of Control, Automation and Systems
Volume3
Issue number1
Publication statusPublished - 2005 Mar 1

Keywords

  • Consecutive scanning
  • Cooperative scanning
  • Localization
  • Mobile robot

ASJC Scopus subject areas

  • Control and Systems Engineering

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