The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of Localization using Artificial and Natural Landmark for Indoor Mobile Robots

실내 이동 로봇을 위한 자연 표식과 인공 표식을 혼합한 위치 추정 기법 개발

  • Ahn, Joonwoo (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Shin, Seho (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Park, Jaeheung (Graduate School of Convergence Science and Technology, Seoul National University)
  • Received : 2016.04.29
  • Accepted : 2016.07.11
  • Published : 2016.11.30
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Abstract

The localization of the robot is one of the most important factors of navigating mobile robots. The use of featured information of landmarks is one approach to estimate the location of the robot. This approach can be classified into two categories: the natural-landmark-based and artificial-landmark-based approach. Natural landmarks are suitable for any environment, but they may not be sufficient for localization in the less featured or dynamic environment. On the other hand, artificial landmarks may generate shaded areas due to space constraints. In order to improve these disadvantages, this paper presents a novel development of the localization system by using artificial and natural-landmarks-based approach on a topological map. The proposed localization system can recognize far or near landmarks without any distortion by using landmark tracking system based on top-view image transform. The camera is rotated by distance of landmark. The experiment shows a result of performing position recognition without shading section by applying the proposed system with a small number of artificial landmarks in the mobile robot.

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References

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