Autonomous Map Building and Smart Localization of the Service Robot PSR

Dongheui Lee, Woojin Chung, Munsang Kim

    Research output: Contribution to conferencePaperpeer-review

    18 Citations (Scopus)

    Abstract

    In this paper, an autonomous map building method and an intelligent position estimation method for an indoor service robot are presented. Map building is composed of three processes: (1) environmental information gathering, (2) scan registration, and (3) grid map building. A grid map of the environment can be successfully generated using the proposed strategy. Previously [9] we proposed a localization method which is a map-matching scheme using scanned range data, without using any artificial landmarks. In this paper, an extended localization method called smart localization is presented. Smart localization includes the Petri net based discrete event control concept as well as the position estimation scheme using map matching. A mobile robot is able to act intelligently even if various real world problems arise when using discrete event control. For example, when the robot is unable to compute its position, discrete event based error handling logics are activated according to the predetermined behavioral configuration. Experimental results demonstrate the validity and feasibility of the proposed algorithm for a service robot to navigate in an office building.

    Original languageEnglish
    Pages454-459
    Number of pages6
    Publication statusPublished - 2003
    Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
    Duration: 2003 Oct 272003 Oct 31

    Other

    Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
    Country/TerritoryUnited States
    CityLas Vegas, NV
    Period03/10/2703/10/31

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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