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Continuous Localization of Mobile Robots using Systematical Error Correction and a New Computational Algorithm

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1 Author(s)
Yeol, J.W. ; Department of Mechanical Engineering, Columbia University 500 West 120th Street, New York, NY 10027 USA sibalama@columbia.edu

This paper presents a modified localization scheme of a mobile robot. When it navigates, the position error of a robot is increased and doesn't go to a goal point where the robot intends to go at the beginning. The objective of localization is to estimate the position of a robot precisely. Many algorithms were developed and still are being researched for localization of a mobile robot at present. Among them, a localization algorithm named continuous localization proposed by Schultz [2] has some merits on real-time navigation and is easy to be implemented compared to other localization schemes. Continuous Localization (CL) is based on map-matching algorithm with global and local maps using only ultrasonic sensors for making grid maps. However, CL has some problems in the process of searching the best-scored-map, when it is applied to a mobile robot. We here propose fast and powerful map-matching algorithm for localization of a mobile robot by experiments.

Published in:

INDICON, 2005 Annual IEEE

Date of Conference:

11-13 Dec. 2005