초음파 확률격자지도에 기반을 둔 자율이동로봇의 위치추정

Sonar Grid-map based Localization for Autonomous Mobile Robots

Exploration involving mapping and localization in an unknown environment is an important task in mobile robots. For this, robot must be able to build a reliable map of surroundings and to estimate the position of it. In this paper, we developed technique for gird-based localization of a mobile robot with ultrasonic sensors using EKF(Extended Kalman Filter). We also describe the information about landmarks detected in the environment. Finally, the robot experiments show the efficiency of our approach in the real environment.