제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제11권6호
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  • Pages.530-542
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  • 2005
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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레이저 거리계를 이용한 이동 로봇을 위한 강인한 위치 추정 알고리즘

Robust Localization Algorithm for Mobile Robots Using Laser Range Finder

  • 김병국 (한국과학기술원 전자공학과) ;
  • 손희진 (한국과학기술원 전자공학과)
  • 발행 : 2005.06.01
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초록

We proposed a robust localization algorithm for mobile robots using LRF. A novel cost function for localization is suggested, which was used for calculating correct rotation angle and translation vector. We examined validity of our algorithm with various simulations and experiments, and also revealed robustness and accuracy compared to previous localization algorithms.

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참고문헌

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  1. alibration of Infra-red Range Finder PBS-03JN Using Piecewise Linear Function Based on 2-D Grid Error vol.17, pp.9, 2011, https://doi.org/10.5302/J.ICROS.2011.17.9.922