NDLI: Applications of robot navigation based on artificial landmark in large scale public space

Content Provider	IEEE Xplore Digital Library
Author	Yu-Cheol Lee Christiand Heesung Chae Sung-Hoon Kim
Copyright Year	2011
Description	Author affiliation: Department of Robot Cognition and System, Electronics and Telecommunications Research Institute (ETRI), 161 Gajeong-Dong, Yuseong-gu, Daejeon, 305-700, Korea (Yu-Cheol Lee)
Abstract	This paper presents the navigation technique for service mobile robots in large scale environment using artificial landmark. The robot navigation is comprised of three major components; localization, mapping, and path planning. To implement the stable navigation system of mobile robots, many developers could use the artificial landmark to measure the accurate position of robot in large scale environment. When the mobile robots obtains the position based on the artificial landmark, they need to have the map which contains information about the positions of artificial landmarks. In this paper, Grid-based Simultaneous Localization And Mapping (Grid SLAM) method is employed to construct the map of artificial landmark using a specially made mapping cart. The artificial landmark map has been used for the real operation of four kinds of robots; patrol, guidance, delivery, cafeteria serving, relying on the artificial landmark map for their navigation at the large scale indoor environment named Tomorrow City (T-City) where the artificial landmark system is installed for the robotic technologies. The implementation results show that it is possible for mobile robots to provide various services based on the artificial landmark in large indoor environment.
Starting Page	721
Ending Page	726
File Size	6815766
Page Count	6
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181371
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Detectors Mobile robots Navigation Measurement by laser beam
Content Type	Text
Resource Type	Article

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