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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Dongheui Lee Woojin Chung |
| Copyright Year | 1982 |
| Abstract | This paper proposes a new localization strategy for indoor service robots. A mobile robot localization problem is difficult to solve by a single continuous algorithm. Major difficulties include dynamic changes of the real world, various uncertainties, limitation of sensor information, and so forth. To develop a practical localization solution, this paper proposes an integrated localization strategy based on the discrete status of the mobile robot. Uncertainties of navigation are specified and classified into discrete status, and then modeled as a Petri net-based discrete localization system. The proposed algorithm integrates developed computational schemes and robot behaviors with respect to the defined status. Major criteria of status discretization include geometric properties of the environment, existence of dynamic obstacles, and reliability level of the estimated position. An efficient map-matching scheme and a map-building strategy are developed toward practical implementations. This paper focuses on providing a synthesized practical localization method, which can deal with various uncertainties by explicit discretization of robot status. The feasibility of the proposed method is experimentally verified with prototype public service robots in dynamic real environments |
| Sponsorship | IEEE Industrial Electronics Society |
| Starting Page | 1737 |
| Ending Page | 1746 |
| Page Count | 10 |
| File Size | 948803 |
| File Format | |
| ISSN | 02780046 |
| Volume Number | 53 |
| Issue Number | 5 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-10-01 |
| Publisher Place | U.S.A. |
| Access Restriction | One Nation One Subscription (ONOS) |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Service robots Mobile robots Navigation Intelligent robots Uncertainty Prototypes Wheels Computer architecture Manipulator dynamics Testing mobile robot localization Discrete-event control discrete status indoor service robots map building |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications |
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