Localization of Mobile Robot based on Ultrasonic Sensor using Dynamic Obstacles

In this article, we propose a localization scheme for a mobile robot based on the distance between the robot and moving objects. This method combines the distance data obtained from ultrasonic sensors in a mobile robot, and estimates the location of the mobile robot and the moving object. The movement of the object is detected by a combination of data and the object’s estimated position. Then, the mobile robot’s location is derived from the a priori known initial state. We use kinematic modeling that represents the movement of a robot and an object. A Kalman-filtering algorithm is used for addressing estimation error and measurement noise. Throughout the computer simulation experiments, the performance is verified. Finally, the results of experiments are presented and discussed. The proposed approach allows a mobile robot to seek its own position in a weakly structured environment.
Publisher
Springer
Issue Date
2007-11
Language
ENG
Description

This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007

Citation

ARTIFICIAL LIFE AND ROBOTICS, v.12, no.1-2, pp.280 - 283

ISSN
1433-5298
URI
http://hdl.handle.net/10203/8272
Appears in Collection
EE-Journal Papers(저널논문)
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