한국전기전자재료학회:학술대회논문집 (Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference)
- 한국전기전자재료학회 2003년도 하계학술대회 논문집 Vol.4 No.2
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- Pages.1227-1230
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- 2003
지역 지도와 칼만 필터를 이용한 이동 로봇의 위치 추정
Localization of Mobile Robot using Local Map and Kalman Filtering
- Lim, Byung-Hyun (Dept. of Computer Applied Electric system Provincial College of Damyang) ;
- Kim, Yeong-Min (Dept. of Computer Applied Electric system Provincial College of Damyang) ;
- Hwang, Jong-Sun (Dept. of Computer Applied Electric system Provincial College of Damyang) ;
- Ko, Nak-Yong (Dept. of Control & Instrumentation Eng. Chosun Univ.)
- 발행 : 2003.07.10
초록
In this paper, we propose a pose estimation method using local map acquired from 2d laser range finder information. The proposed method uses extended kalman filter. The state equation is a navigation system equation of Nomad Super Scout II. The measurement equation is a map-based measurement equation using a SICK PLS 101-112 sensor. We describe a map consisting of geometric features such as plane, edge and corner. For pose estimation we scan external environments by laser rage finer. And then these data are fed to kalman filter to estimate robot pose and position. The proposed method enables very fast simultaneous map building and pose estimation.