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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Efficient Urban Outdoor Localization and Navigation System for Car-like Mobile Robots

자동차형 로봇의 도시 실외에서의 효율적인 위치 추정 및 네비게이션 시스템의 구현

  • Yoon, Gun Woo (Electrical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kim, Jin Baek (Electrical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kim, Byung Kook (Electrical Engineering, Korea Advanced Institute of Science and Technology)
  • 윤건우 (한국과학기술원 전기 및 전자공학과) ;
  • 김진백 (한국과학기술원 전기 및 전자공학과) ;
  • 김병국 (한국과학기술원 전기 및 전자공학과)
  • Received : 2013.02.12
  • Accepted : 2013.05.30
  • Published : 2013.08.01
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Abstract

An efficient urban outdoor localization and navigation system is proposed for car-like robots. First an accurate outdoor localization method is suggested using line/arc features and 2.5D map matching with LRFs (Laser Range Finders), which can reduce the number of singular cases and increase accuracy. Also, path generation, path tracking, and path modification algorithms are proposed for navigation. All these algorithms are implemented on an electric scooter to construct an autonomous urban outdoor localization and navigation system. Experiments reveal the practicality of the proposed system.

Keywords

References

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