Range sensor-based localization of mobile robots in semi-structured environments

Jiwoong Kim, Woo Jin Chung

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

1 Citation (Scopus)

Abstract

There are various localization schemes for autonomous navigation of indoor mobile robots. However, most range sensor-based localization schemes only operate efficiently in environments where the geometric structure is fixed. In other words, localization performance is guaranteed only when the geometric structure of the actual environment matches with the geometric information given in the map. To resolve this limitation, this paper proposes a range sensor-based localization algorithm that can be efficiently used in semi-structured environments. By using both the natural and artificial landmarks simultaneously, a localization technique that is robust to environmental changes can be implemented. Experimental results show that localization performance in semi-structured environments can be improved using the proposed method.

Original languageEnglish
Title of host publication2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
PublisherIEEE Computer Society
Pages219-221
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

  • Artificial landmark
  • Localization
  • Natural landmark
  • Range sensor
  • Semi-structured environment

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Kim, J., & Chung, W. J. (2013). Range sensor-based localization of mobile robots in semi-structured environments. In 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 (pp. 219-221). [6677346] IEEE Computer Society. https://doi.org/10.1109/URAI.2013.6677346