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

Jiwoong Kim, Woojin Chung

    Research output: Contribution to conferencePaperpeer-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 languageEnglish
    Pages219-221
    Number of pages3
    DOIs
    Publication statusPublished - 2013
    Event2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of
    Duration: 2013 Oct 302013 Nov 2

    Other

    Other2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
    Country/TerritoryKorea, Republic of
    CityJeju
    Period13/10/3013/11/2

    Keywords

    • Artificial landmark
    • Localization
    • Natural landmark
    • Range sensor
    • Semi-structured environment

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

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