TY - GEN
T1 - Development of an autonomous outdoor patrol robot in private road environment
AU - Jin, Jiyong
AU - Jung, Changbae
AU - Kim, Donghyeon
AU - Chung, Woojin
PY - 2010
Y1 - 2010
N2 - Recently, the necessity of an autonomous outdoor patrol robot is increasing. The outdoor navigation is more difficult than an indoor navigation because the outdoor environment is more complex than the indoor environment. Various methods[1-2] for the outdoor navigation were researched. However, it is not easy to implement these methods[1-2], since these solutions require expensive sensors. In this paper, we compute the robot's pose by using Extended Kalman Filter[3], and extract the road information by using single Laser Range Finder(LRF). The localization, motion control, and the road information are used for a stable navigation. By using the proposed method, the autonomous outdoor patrol robot can navigate successfully in regular road environments.
AB - Recently, the necessity of an autonomous outdoor patrol robot is increasing. The outdoor navigation is more difficult than an indoor navigation because the outdoor environment is more complex than the indoor environment. Various methods[1-2] for the outdoor navigation were researched. However, it is not easy to implement these methods[1-2], since these solutions require expensive sensors. In this paper, we compute the robot's pose by using Extended Kalman Filter[3], and extract the road information by using single Laser Range Finder(LRF). The localization, motion control, and the road information are used for a stable navigation. By using the proposed method, the autonomous outdoor patrol robot can navigate successfully in regular road environments.
KW - EKF localization
KW - Path tracking
KW - Road detection
KW - Sensor fusion
UR - https://www.scopus.com/pages/publications/78751480346
M3 - Conference contribution
AN - SCOPUS:78751480346
SN - 9781424474530
T3 - ICCAS 2010 - International Conference on Control, Automation and Systems
SP - 1918
EP - 1921
BT - ICCAS 2010 - International Conference on Control, Automation and Systems
T2 - International Conference on Control, Automation and Systems, ICCAS 2010
Y2 - 27 October 2010 through 30 October 2010
ER -