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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Real-time Localization of Mobile Robot Using Ultrasonic Sensor in Structured Indoor Environment

구조화된 실내 환경에서 초음파센서를 이용한 모바일 로봇 실시간 localization 기법

  • 이만희 (광운대학교 정보제어공학과) ;
  • 조황 (광운대학교 정보제어공학과)
  • Published : 2005.12.01
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Abstract

In order to increase the autonomous navigation capability of a mobile robot, it is very crucial to develop a method for the robot to be able to recognize a priori hon structured environmental characteristics. This paper proposes an ultrasonic sensor based real-time method for recognizing a priori known structured indoor environmental characteristics like a wall and comer Unlike the methods reported in the literature the information obtained from the sensor can be processed in real-time by extended Kalman filter to update estimations of the position and orientation of robot with respect to known environmental characteristics.

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References

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