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Indoor Environment Recognition Method for Indoor Autonomous Mobile Robot  

Lee Man-Hee (광운대학 대학원 제어계측학과)
Cho Whang (광운대학 대학원 제어계측학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.54, no.6, 2005 , pp. 366-371 More about this Journal
Abstract
For an autonomous mobile robot localization, it is very important for the robot to be able to recognize indoor environment and match a detected object to an object defined within a map developed either online or of offline. Given the map defining the locations of geometric beacons like wall and corner existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method practically applicable in recognizing the geometric beacons in real-time. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter Experimental results are provided to demonstrate that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.
Keywords
Autonomous Mobile Robot; Indoor Navigation; Localization; Stereo Ultrasonic Sensor;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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