Discrete-status-based localization for indoor service robots

Dongheui Lee, Woojin Chung

Research output: Contribution to journalArticlepeer-review

67 Citations (Scopus)


This paper proposes a new localization strategy for indoor service robots. A mobile robot localization problem is difficult to solve by a single continuous algorithm. Major difficulties include dynamic changes of the real world, various uncertainties, limitation of sensor information, and so forth. To develop a practical localization solution, this paper proposes an integrated localization strategy based on the discrete status of the mobile robot. Uncertainties of navigation are specified and classified into discrete status, and then modeled as a Petri net-based discrete localization system. The proposed algorithm integrates developed computational schemes and robot behaviors with respect to the defined status. Major criteria of status discretization include geometric properties of the environment, existence of dynamic obstacles, and reliability level of the estimated position. An efficient map-matching scheme and a map-building strategy are developed toward practical implementations. This paper focuses on providing a synthesized practical localization method, which can deal with various uncertainties by explicit discretization of robot status. The feasibility of the proposed method is experimentally verified with prototype public service robots in dynamic real environments.

Original languageEnglish
Pages (from-to)1737-1746
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number5
Publication statusPublished - 2006 Oct

Bibliographical note

Funding Information:
Manuscript received July 10, 2005; revised March 16, 2006. Abstract published on the Internet July 14, 2006. This work was supported by the Ministry of Science and Technology of Korea under one of the 21st Century Frontier R&D Programs—The Intelligent Robotics Development Program. D. Lee is with the Department of Mechano-Informatics, University of Tokyo, Tokyo 113-0033, Japan (e-mail: dhlee@ynl.t.u-tokyo.ac.jp). W. Chung is with the Department of Mechanical Engineering, Korea University, Seoul 136-713, Korea (e-mail: smartrobot@korea.ac.kr). Digital Object Identifier 10.1109/TIE.2006.881949


  • Discrete status
  • Discrete-event control
  • Indoor service robots
  • Map building
  • Mobile robot localization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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