Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Grid-Based Localization of a Mobile Robot Using Sonar Sensors

  • Lim, Jong-Hwan (Faculty of Mechanical, Energy and Production Engineering, Cheju National University) ;
  • Kang, Chul-Ung (Faculty of Mechanical, Energy and Production Engineering, Cheju National University)
  • Published : 2002.03.01
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Abstract

This paper presents a technique for localization of a mobile robot using sonar sensors. Localization is the continual provision of knowledges of position that are deduced from its a priori position estimation. The environment of a robot is modeled by a two-dimensional grid map. We define a physically based sonar sensor model and employ an extended Kalman filter to estimate positions of the robot. Since the approach does not rely on an exact geometric model of an object, it is very simple and offers sufficient generality such that integration with concurrent mapping and localizing can be achieved without major modifications. The performance and simplicity of the approach are demonstrated with the results produced by sets of experiments using a mobile robot equipped with sonar sensors.

Keywords

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