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

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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

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