The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Landmark based Localization System of Mobile Robots Considering Blind Spots

사각지대를 고려한 이동로봇의 인공표식기반 위치추정시스템

  • Received : 2010.12.17
  • Accepted : 2011.02.28
  • Published : 2011.05.31
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Abstract

This paper propose a localization system of indoor mobile robots. The localization system includes camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also we develop a dead reckoning system to estimate the global position when the robot moves the blind spots where it cannot see artificial landmarks, The learning engine using modular networks is designed to improve the performance of the dead reckoning system. Experimental results are then presented to verify the usefulness of the proposed localization system.

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References

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