TY - GEN
T1 - Dependable localization strategy in dynamic real environments
AU - Lee, Dongheui
AU - Chung, Woojin
PY - 2005
Y1 - 2005
N2 - Due to dynamic changes of an environment and various kinds of uncertainties in a real world, mobile robot localization is difficult to be solved by a single continuous algorithm. In order to achieve a practical localization solution generally, this paper proposes a strategy to deal with various uncertainties using explicit discretization of robot's status. Discrete status of localization is designed with three criteria as follows: (i) polygonal environment and non-polygonal environment, (ii) static environment and dynamic environment, and (iii) global positioning problem and local tracking problem are defined. An appropriate strategy is adopted according to the robot's status. The feasibility of the proposed method is demonstrated by simulation results.
AB - Due to dynamic changes of an environment and various kinds of uncertainties in a real world, mobile robot localization is difficult to be solved by a single continuous algorithm. In order to achieve a practical localization solution generally, this paper proposes a strategy to deal with various uncertainties using explicit discretization of robot's status. Discrete status of localization is designed with three criteria as follows: (i) polygonal environment and non-polygonal environment, (ii) static environment and dynamic environment, and (iii) global positioning problem and local tracking problem are defined. An appropriate strategy is adopted according to the robot's status. The feasibility of the proposed method is demonstrated by simulation results.
UR - http://www.scopus.com/inward/record.url?scp=33750097101&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33750097101&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545088
DO - 10.1109/IROS.2005.1545088
M3 - Conference contribution
AN - SCOPUS:33750097101
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 3746
EP - 3751
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PB - IEEE Computer Society
ER -