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A Study on the Localization Method for the Autonomous Navigation of Synchro Drive Mobile Robot  

Ku, Ja-Yl (Department of Digital Electronic and Information, Inha technical College)
Hong, Jun-Peu (Department of Electronic Engineering, Inha University)
Lee, Won-Suk (Department of School of Electronical Engineering, Dongyang technical College)
Publication Information
전자공학회논문지 IE / v.43, no.1, 2006 , pp. 59-66 More about this Journal
Abstract
In this study, we have proposed a motion equation to control synchro drive mobile robot, a path plan to compute and track the best path to given destination and a technique utilizing uniform distribution and cluster management based Monte Carlo localization to have track current position of moving robot. In the localization test which was repeated 73 times resulted as following. The average process time of original Monte Carlo localization was 12.8ms. The proposed cluster management Monte Carlo localization resulted 9.3ms. Also the proposed method resulted correctly in the cases where original method failed.
Keywords
synchro drive mobile robot; Monte Carlo localization; uniform distribution; cluster management;
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