한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제30권3호
  • /
  • Pages.308-316
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  • 2013
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  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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초음파 격자 지도를 이용한 파티클 필터 기반의 이동로봇 위치 추정을 위한 격자 관측 모델의 개발

Development of Grid Observation Model for Particle Filter-based Mobile Robot Localization using Sonar Grid Map

  • 박병재 (포항공과대학교 기계공학과) ;
  • 이세진 (경일대학교 로봇응용학과) ;
  • 정완균 (포항공과대학교 기계공학과) ;
  • 조동우 (포항공과대학교 기계공학과)
  • 투고 : 2012.06.18
  • 심사 : 2012.10.08
  • 발행 : 2013.03.01
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초록

This paper proposes an observation model for a particle filter-based localization using a sonar grid map. The proposed model estimates a predicted observation by considering the properties of a sonar sensor which has a large angular uncertainty. The proposed model searches a grid which has the highest probability to reflect a sonar beam using the following procedures; (1) the reliable area of a single sonar data is determined using the footprint association model; (2) the detection probability of each grid cell in a sonar beam coverage in estimated. The proposed model was applied to the particle filter based localization, and was verified by experiments in indoor environments.

키워드

참고문헌

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