Outdoor mobile robot localization algorithm using line/arc features based on laser range finders and 21/2D map 레이저 레인지 파인더와 2½D 지도 기반의 선분/호 개체를 이용한 이동 로봇의 실외 위치 추정 알고리즘

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 428
  • Download : 0
An accurate outdoor localization method using line/arc features is suggested for mobile robots with LRFs (Laser Range Finders) and odometry. Localization is a key process for outdoor mobile robots which are used for autonomous navigation, exploration and so on. In this paper, an accurate pose correction algorithm is proposed for mobile robots using LRFs, which use three feature types: line, circle, and arc. Using this method we can reduce the number of singular cases that robots couldn't find their pose. Finally we have got simulation results to validate the proposed algorithm. © ICROS 2012.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2012-07
Language
Korean
Citation

Journal of Institute of Control, v.18, no.7, pp.658 - 663

ISSN
1976-5622
URI
http://hdl.handle.net/10203/102555
Appears in Collection
EE-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0