Outdoor mobile robot localization algorithm using line/arc features based on laser range finders and 21/2D map레이저 레인지 파인더와 2½D 지도 기반의 선분/호 개체를 이용한 이동 로봇의 실외 위치 추정 알고리즘
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Yoon, G.W. | ko |
| dc.contributor.author | Kim, J.B. | ko |
| dc.contributor.author | Kim, Byung Kook | ko |
| dc.date.accessioned | 2013-03-12T14:13:47Z | - |
| dc.date.available | 2013-03-12T14:13:47Z | - |
| dc.date.created | 2012-11-23 | - |
| dc.date.created | 2012-11-23 | - |
| dc.date.issued | 2012-07 | - |
| dc.identifier.citation | Journal of Institute of Control, v.18, no.7, pp.658 - 663 | - |
| dc.identifier.issn | 1976-5622 | - |
| dc.identifier.uri | http://hdl.handle.net/10203/102555 | - |
| dc.description.abstract | 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. | - |
| dc.language | Korean | - |
| dc.publisher | Institute of Control, Robotics and Systems | - |
| dc.title | Outdoor mobile robot localization algorithm using line/arc features based on laser range finders and 21/2D map | - |
| dc.title.alternative | 레이저 레인지 파인더와 2½D 지도 기반의 선분/호 개체를 이용한 이동 로봇의 실외 위치 추정 알고리즘 | - |
| dc.type | Article | - |
| dc.identifier.scopusid | 2-s2.0-84867912857 | - |
| dc.type.rims | ART | - |
| dc.citation.volume | 18 | - |
| dc.citation.issue | 7 | - |
| dc.citation.beginningpage | 658 | - |
| dc.citation.endingpage | 663 | - |
| dc.citation.publicationname | Journal of Institute of Control | - |
| dc.contributor.localauthor | Kim, Byung Kook | - |
| dc.contributor.nonIdAuthor | Yoon, G.W. | - |
| dc.contributor.nonIdAuthor | Kim, J.B. | - |
| dc.subject.keywordAuthor | Line/arc feature | - |
| dc.subject.keywordAuthor | LRF | - |
| dc.subject.keywordAuthor | Mobile robot | - |
| dc.subject.keywordAuthor | Outdoor localization | - |
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