NDLI: Feature localization using neural networks for cleaning robots with ultrasonic sensors

Content Provider	IEEE Xplore Digital Library
Author	Sang-Hyuk Park Young-Ho Choi Sang-Hoon Baek Tae-Kyung Lee Se-Young Oh
Copyright Year	2007
Description	Author affiliation: Pohang Univ. of Sci. & Technol., Pohang (Sang-Hyuk Park)
Abstract	A feature localization method for simple mobile robots like domestic vacuum cleaning robots is proposed. Here, the proposed robot system has two wheels and four ultrasonic transmitter and receiver pairs. The purpose of the sensor system is using as small number of sensors as possible whereas the robot avoids collision and gathers information of the environment. To avoid collision with a small number of sensors, each sensor must have wide-angle sensibility; however, such a wide-angle characteristic leads to ambiguity of bearing angle information and spoils high-level applications like localization. To cope with this limitation, a neural network system is proposed which extracts the bearing angle of the concave corner feature utilizing distance and amplitude information of the sensors. Under the constraint of the bearing angle, relative location of the feature against the robot is found in some error bound. By comparing the feature location with a priori map, the robot would be able to correct its pose. Experimental results with real robot and ultrasonic sensors are provided.
Starting Page	449
Ending Page	453
File Size	733334
Page Count	5
File Format	PDF
ISBN	9788995003862
DOI	10.1109/ICCAS.2007.4406949
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-17
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	ICASE
Subject Keyword	Costs Ultrasonic sensor Navigation Cleaning Robot Sensor phenomena and characterization Cleaning Sensor systems Mobile robots History Feature localization Neural Network Neural networks Robot sensing systems Infrared sensors
Content Type	Text
Resource Type	Article

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