Range sensor-based localization of mobile robots in semi-structured environments

Jiwoong Kim; Woojin Chung

doi:10.1109/URAI.2013.6677346

Range sensor-based localization of mobile robots in semi-structured environments

Jiwoong Kim, Woojin Chung

School of Mechanical Engineering

Research output: Contribution to conference › Paper › peer-review

2 Citations (Scopus)

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	https://doi.org/10.1109/URAI.2013.6677346
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

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10.1109/URAI.2013.6677346

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title = "Range sensor-based localization of mobile robots in semi-structured environments",

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.",

keywords = "Artificial landmark, Localization, Natural landmark, Range sensor, Semi-structured environment",

author = "Jiwoong Kim and Woojin Chung",

year = "2013",

doi = "10.1109/URAI.2013.6677346",

language = "English",

pages = "219--221",

note = "2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 ; Conference date: 30-10-2013 Through 02-11-2013",

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TY - CONF

T1 - Range sensor-based localization of mobile robots in semi-structured environments

AU - Kim, Jiwoong

AU - Chung, Woojin

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - Artificial landmark

KW - Localization

KW - Natural landmark

KW - Range sensor

KW - Semi-structured environment

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DO - 10.1109/URAI.2013.6677346

M3 - Paper

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T2 - 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013

Y2 - 30 October 2013 through 2 November 2013

ER -

Range sensor-based localization of mobile robots in semi-structured environments

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Keywords

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