NDLI: Self-localization for mobile robots by matching of two consecutive environmental range data

Content Provider	IEEE Xplore Digital Library
Author	In Soo Jeong Hyung Suck Cho
Copyright Year	2001
Description	Author affiliation: Dept. of Image Processing, Security R&D Center, Seoul, South Korea (In Soo Jeong)
Abstract	While navigating, most autonomous mobile robots view things only in front of them and, as a result, they may collide with objects moving from the side or behind. To overcome this problem, an active omni-directional range sensor system is presented, that is capable of obtaining the omni-directional range data on a navigation environment through the use of a laser conic plane and a conic mirror. Based on this system configuration, we propose a self-localization algorithm. The proposed algorithm to estimate the current position and heading angle of mobile robots utilizes the registered range data obtained at two positions; current and previous and matches the two range informations. To show the effectiveness of the proposed algorithm, a series of simulations was conducted under various navigation conditions. The results show that the proposed algorithm is very efficient in processing, and can be effectively utilized for self-localization of mobile robots in unknown environments.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	1603
Ending Page	1608
File Size	559778
Page Count	6
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.932840
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Navigation Robot vision systems Cameras Sensor systems Robot sensing systems Charge coupled devices Charge-coupled image sensors Mirrors Head
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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