전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제65권12호
  • /
  • Pages.2094-2102
  • /
  • 2016
  • /
  • 1975-8359(pISSN)
  • /
  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지
DOI QR코드

DOI QR Code

레이저 코너 패턴의 매칭을 이용한 이동 로봇의 EKF 기반 SLAM

EKF-based Simultaneous Localization and Mapping of Mobile Robot using Laser Corner Pattern Matching

  • Kim, Tae-Hyeong (Dept. of Control and Robot Engineering, Chungbuk National University) ;
  • Park, Tae-Hyoung (Dept. of Electronics Engineering, Chungbuk National University)
  • 투고 : 2016.07.18
  • 심사 : 2016.10.28
  • 발행 : 2016.12.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, we propose an extended Kalman filter(EKF)-based simultaneous localization and mapping(SLAM) method using laser corner pattern matching for mobile robots. SLAM is one of the most important problems of mobile robot. However, existing method has the disadvantage of increasing the computation time, depending on the number of landmarks. To improve computation time, we produce the corner pattern using classified and detected corner points. After producing the corner patterns, it is estimated that mobile robot's global position by matching them. The estimated position is used as measurement model in the EKF. To evaluated proposed method, we preformed the experiments in the indoor environments. Experimental results of proposed method are shown to maintain an accuracy and decrease the computation time.

키워드

참고문헌

  1. J. K. Park, and T. H. Park "Autonomous Navigation System of Mobile Robot Using Laser Scanner Corridor Environment," Journal of Institute of Control, Robotics, and Systems, vol. 21, no. 11, pp. 1044-1049, Nov 2015. https://doi.org/10.5302/J.ICROS.2015.15.0167
  2. H. C. Yun, and T. H. Park, "Auto-parking Controller of Omnidirectional Mobile Robot Using Image Localization Sensor and Ultrasonic Sensors," Journal of Institute of Control, Robotics, and Systems, vol. 21, no. 6, pp. 571-576, Jun 2015. https://doi.org/10.5302/J.ICROS.2015.14.0152
  3. J. W. Hwang, and T. H. Park, "Force Feedback system of Telepresence Robot for Remote Operation," The Transactions of the Korean Institute of Electrical Engineers, vol. 64, no. 4, pp. 505-510, April 2015. https://doi.org/10.5370/KIEE.2015.64.4.505
  4. J. M. C. Troncoso, J. R. Alvares-Sanchez, I. N. Santosjuanes, F. de la P. Lopez, and R. A. Prieto, "Consistent robot localization using polar scan matching based on Kalman segmentation," Journal of Robotics and Autonomous Systems, vol. 63, no. 2, pp. 219-225, January 2015. https://doi.org/10.1016/j.robot.2014.09.017
  5. Y. G. Kim, and T. H. Park, "Localization of Mobile Robots by Full Detection of Ceiling Outlines," The Transactions of the Korean Institute of Electrical Engineers, vol. 65, no. 7, pp. 1283-1289, July 2016. https://doi.org/10.5370/KIEE.2016.65.7.1283
  6. A. Asvadi, C. Premebida, P. Peixoto, and U. Nunes, "3D Lidar-based static and moving obstacle detection in driving environments: An approach based on voxels and multi-region ground planes," Journal of Robotics and Autonomous Systems, vol. 83, no. 25. pp. 299-311, September 2016. https://doi.org/10.1016/j.robot.2016.06.007
  7. J. Gonzalez, J. L. Blanco, C. Galindo, A. Ortiz-de-Galisteo, J. A. Fernandez-Madrigal, F. A. Moreno, and J. L. Martinez, "Mobile robot localization based on Ultra-Wide-Band ranging: A particle filter approach", Journal of Robotics and Autonomous Systems, vol. 57, no. 5, pp. 496-507, May 2009. https://doi.org/10.1016/j.robot.2008.10.022
  8. P. Nunez, R. Vazquez-Martin, J. C. del Toro, A. Bandera and F. Sandoval, "Natural landmark extraction for mobile robot navigation based on an adaptive curvature estimation", Journal of Robotics and Autonomous Systems, vol. 56, no. 3, pp. 247-264, March 2008. https://doi.org/10.1016/j.robot.2007.07.005
  9. J. Nieto, T. Bailey and E. Nebot, "Recursive scanmatching SLAM", Journal of Robotics and Autonomous Systems, vol. 55, no. 1, pp. 39-49, January 2007. https://doi.org/10.1016/j.robot.2006.06.008
  10. Y. W. Choi, K. D. Kim, J. W. Choi and S. G. Lee, "Laser image SLAM based on image matching for navigation of a mobile robot", Journal of the Korean Society for Precision Engineering, vol. 30, no. 2, pp. 177-184, February 2013. https://doi.org/10.7736/KSPE.2013.30.2.177
  11. J. E. Guivant, and E. M. Nebot, "Optimization of the Simultaneous Localization and Map-Building Algorithm for Real-Time Implementation", IEEE Transaction on Robotics And Automation, vol. 17, no. 3, pp. 242-257, June 2001. https://doi.org/10.1109/70.938382
  12. J. A. Castellanos, R. Martinez-Cantin, J.D. Tardos, and J. Neira, "Robocentric map joining: Improving the consistency of EKF-SLAM," Journal of Robotics and Autonomous Systems, vol. 55, no. 1. pp. 21-29, January 2007. https://doi.org/10.1016/j.robot.2006.06.005
  13. C. Fernandez, V. Moreno, B. Curto and J. A. Vicente, "Clustering and line detection in laser range measurements", Journal of Robotics and Autonomous Systems, vol. 58, no. 5, pp. 720-726, May 2010. https://doi.org/10.1016/j.robot.2009.10.008
  14. R. O. Duda, P. E. Hart and D. G. Stork "Pattern classification and scene analysis," John Wiley & Sons, 1973.
  15. G. Dissanayake, H. Durrant-Whyte, and Tim Bailey "Computationally efficient solution to the Simultaneous Localisation and Map building(SLAM) problem,", IEEE International Conference on Robotics and Automation, 2000.
  16. T. Bailey, H. Durrant-Whyte, "Simultaneous Localization and Mapping (SLAM): Part II," IEEE Robotics & Automation Magazine, vol. 13, no. 3, pp. 108-117, September 2006. https://doi.org/10.1109/MRA.2006.1678144