By Topic

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

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)
In Soo Jeong ; Dept. of Image Processing, Security R&D Center, Seoul, South Korea ; Kyung Suck Cho

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.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:2 )

Date of Conference:

2001