By Topic

Localization of outdoor mobile robots using road features

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Donghyeon Kim ; Sch. of Mech. Eng., Korea Univ., Seoul, South Korea ; Woojin Chung

It is required lots of sensor systems to deal with general environmental uncertainties. However, in semi-structured outdoor environments, such as paved road, the environmental uncertainties are generally lower than that of the general environments. As a result, it can be dealt with a single Laser Range Finder by using the utilizations of curb-detection in the semi-structured environments. In this paper, we presented outdoor mobile robot localization scheme by exploiting the detected curb information. For localization, we used data of robot's odometry, DGPS, and compass was combined using Extended Kalman Filter. The data of extracted curb was also used. Using the data of curb, we can get more reliable localization results and suggest algorithm showing better localization performance than that of result from using only DGPS and compass in area in which DGPS's error is large.

Published in:

Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on

Date of Conference:

23-26 Nov. 2011