Dependable localization strategy in dynamic real environments

Dongheui Lee, Woojin Chung

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

6 Citations (Scopus)


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.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)0780389123, 9780780389120
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering


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