제어로봇시스템학회:학술대회논문집
- 2003.10a
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- Pages.1184-1189
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- 2003
Experimental Research of Map Building and Localization at Human Co-existing Real Environments
- Lee, Dong-Heui (Intelligent Robotics Research Center, Korea Institute of Science and Technology) ;
- Chung, Woo-Jin (Intelligent Robotics Research Center, Korea Institute of Science and Technology) ;
- Kim, Mun-Sang (Intelligent Robotics Research Center, Korea Institute of Science and Technology)
- Published : 2003.10.22
Abstract
Map building and position estimation capabilities are practically indispensable for a mobile robot to execute its given tasks in its working environments. An autonomous map building method and a smart localization method is proposed in our previous works. The experimental verifications are carried out in this paper. We applied the proposed algorithms to mobile service robots in large-scale indoor buildings. Experimental results show that our strategy is reliable and feasible in tough conditions like non-polygonal and dynamic environments. The advantages of the algorithms are well-illustrated through real experiments.
Keywords
- localization;
- map building;
- mobile robot;
- dynamic environment;
- non-polygonal environment;
- discrete event control