Abstract
There are various localization schemes for autonomous navigation of indoor mobile robots. However, most range sensor-based localization schemes only operate efficiently in environments where the geometric structure is fixed. In other words, localization performance is guaranteed only when the geometric structure of the actual environment matches with the geometric information given in the map. To resolve this limitation, this paper proposes a range sensor-based localization algorithm that can be efficiently used in semi-structured environments. By using both the natural and artificial landmarks simultaneously, a localization technique that is robust to environmental changes can be implemented. Experimental results show that localization performance in semi-structured environments can be improved using the proposed method.
Original language | English |
---|---|
Pages | 219-221 |
Number of pages | 3 |
DOIs | |
Publication status | Published - 2013 |
Event | 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of Duration: 2013 Oct 30 → 2013 Nov 2 |
Other
Other | 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 |
---|---|
Country/Territory | Korea, Republic of |
City | Jeju |
Period | 13/10/30 → 13/11/2 |
Keywords
- Artificial landmark
- Localization
- Natural landmark
- Range sensor
- Semi-structured environment
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction