Mobile robot localization using an active omni-directional range sensor

전방향 능동거리 센서를 이용한 이동로봇의 자기위치 추정

Most autonomous mobile robots view things only in front of them. As a result they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omni-directional depth data by a laser conic plane and a conic mirror. Also we proposed a self-localization algorithm of mobile robot in unknown environment by fusion of Odometer and Active Omn-directional Range Sensor.