Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2007.13.8.804

Initialization Problem of Indoor Mobile Robots with Artificial Stars  

Bang, Sung-Kee (광운대학교 제어계측공학과)
Kim, Jin-Oh (광운대학교 정보제어공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.8, 2007 , pp. 804-809 More about this Journal
Abstract
Initialization problem is defined for indoor mobile robot as a whole process from arrival to normal operation in a new environment. The unstructured environment make the process much more difficult compared to industrial robot in structured environments. We propose a simple and efficient initialization process based on artificial stars on ceiling. Important task points and paths connecting task points are defined based on the corresponding artificial stars. This approach can be used for all kinds of indoor mobile robots with landmarks used for indoor localization.
Keywords
initialization process; indoor mobile robot; BAS(Blinking Artificial Star); localization; teaching;
Citations & Related Records
연도 인용수 순위
  • Reference
1 J.-M. Im, 'The improved artificial star system for transfer robot system,' Kwangwoon University, 2003
2 W.-J. Lee, 'A new localization system for indoor navigation,' Kwangwoon University, 2003
3 Borenstein, B. Everett, and L. Feng, Navigating Mobile Robots: Systems and Techniques, A K. Peters, Wellesley, Mass., 1996. http://www-peersonal.engin.umich.edu/~johannb/my_book.htm
4 Y. Zhao:Vehicle Location and Navigation Systems Acorridors lights based navigation system including path definition using a topologically corrected map for indoor mobile robots Launay, F.; Ohya, A; Yuta, S.; Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, vol. 4,11-15 May 2002 pp. 3918-3923, vol. 4
5 김진오, 이우준, 신현종, 한승현, 임창준, '실내항법을 위한 좌표확인 시스템,' 특허등록번호: 1005691810000 대한민국등록명, 2006
6 K.-H. Cho, J.-O. Kim 'A blinking artificial star system for indoor robot,' International Journal of Assistive Robotics and Mechatronics, vol. 7, no. 4, Dec 2006, pp. 41-47, ISSN 19750153
7 I. Ashokaraj, A. Tsourdos, P. Silson and B. White 'Sensor based robot localization and navigation: Using interval analysis and extended Kalman filter,' 2004 5th Asian Control Conference and Navigation: Using Interval Analysis and Extended Kalman Filter., ' 2004 5th Asian Control Conference
8 H.-Joachim V. D. Hardt * Didier WolfRen6 Husson 'The dead reckoning localization system of the wheeled mobile robot ROMANE,' Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multi sensor Fusion and Integration for Intelligent Systems
9 Thrun, S. Bennewitz, M., Burgard, W. Cremers, A.B., Dellaert, F., Fox, D., Hahnel, D., Rosenberg, C., Roy, N., Schulte, J. and Schulz, D. 1999. MINERVA: A second-generation museum tour-guide robot. In IEEE International Conference on Robotics and Automation, pp. 1999-2005
10 NorthStar. http://www.evolution.com/products/northstar. Evolution Robotics, Inc