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http://dx.doi.org/10.7736/KSPE.2013.30.3.308

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

Park, Byungjae (Department of Mechanical Engineering, POSTECH)
Lee, Se-Jin (Department of Applied Robotics, Kyungil Univ.)
Chung, Wan Kyun (Department of Mechanical Engineering, POSTECH)
Cho, Dong-Woo (Department of Mechanical Engineering, POSTECH)
Publication Information
Journal of the Korean Society for Precision Engineering / v.30, no.3, 2013 , pp. 308-316 More about this Journal
Abstract
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.
Keywords
Localization; Particle Filter; Sonar Sensor; Grid Map;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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