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http://dx.doi.org/10.5302/J.ICROS.2013.13.8003

Indoor Navigation of a Skid Steering Mobile Robot Via Friction Compensation and Map Matching  

So, Chang Ju (R&D Center, Higen Motors Ltd.)
Lyou, Joon (Dept. of Electronics Eng., Chungnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.5, 2013 , pp. 468-472 More about this Journal
Abstract
This paper deals with the indoor localization problem for a SSMR (Skid Steering Mobile Robot) subjected to wheel-ground friction and with one LRF (Laser Range Finder). In order to compensate for some friction effect, a friction related coefficient is estimated by the recursive least square algorithm and appended to the maneuvering command. Also to reduce odometric information based localization errors, the lines are extracted with scan points of LRF and matched with the ones of the corresponding map built in advance. The present friction compensation and scan map matching schemes have been applied to a laboratory SSMR, and experimental results are given to validate the localization performance along an indoor corridor.
Keywords
SSMR; LRF; indoor localization; friction compensation; scan map matching;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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