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http://dx.doi.org/10.5302/J.ICROS.2007.13.2.140

Development of Patrol Robot using DGPS and Curb Detection  

Kim, Seung-Hun (한국과학기술연구원)
Kim, Moon-June (위아주식회사)
Kang, Sung-Chul (한국과학기술연구원)
Hong, Suk-Kyo (아주대학교 전자공학과)
Roh, Chi-Won (아주대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.2, 2007 , pp. 140-146 More about this Journal
Abstract
This paper demonstrates the development of a mobile robot for patrol. We fuse differential GPS, angle sensor and odometry data using the framework of extended Kalman filter to localize a mobile robot in outdoor environments. An important feature of road environment is the existence of curbs. So, we also propose an algorithm to find out the position of curbs from laser range finder data using Hough transform. The mobile robot builds the map of the curbs of roads and the map is used fur tracking and localization. The patrol robot system consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The remote control station receives and displays the image data. Also, the patrol robot system can be used in two modes, teleoperated or autonomous. In teleoperated mode, the teleoperator commands the mobile robot based on the image data. On the other hand, in autonomous mode, the mobile robot has to autonomously track the predefined waypoints. So, we have designed a path tracking controller to track the path. We have been able to confirm that the proposed algorithms show proper performances in outdoor environment through experiments in the road.
Keywords
patrol robot; EKF algorithm; curb detection; Hough transform; path tracking controller;
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