Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Localization Algorithm for Mobile Robots Using Laser Range Finder

레이저 거리계를 이용한 이동 로봇을 위한 강인한 위치 추정 알고리즘

  • 김병국 (한국과학기술원 전자공학과) ;
  • 손희진 (한국과학기술원 전자공학과)
  • Published : 2005.06.01
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Abstract

We proposed a robust localization algorithm for mobile robots using LRF. A novel cost function for localization is suggested, which was used for calculating correct rotation angle and translation vector. We examined validity of our algorithm with various simulations and experiments, and also revealed robustness and accuracy compared to previous localization algorithms.

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References

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