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http://dx.doi.org/10.5302/J.ICROS.2013.13.1885

An Efficient Urban Outdoor Localization and Navigation System for Car-like Mobile Robots  

Yoon, Gun Woo (Electrical Engineering, Korea Advanced Institute of Science and Technology)
Kim, Jin Baek (Electrical Engineering, Korea Advanced Institute of Science and Technology)
Kim, Byung Kook (Electrical Engineering, Korea Advanced Institute of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.8, 2013 , pp. 745-754 More about this Journal
Abstract
An efficient urban outdoor localization and navigation system is proposed for car-like robots. First an accurate outdoor localization method is suggested using line/arc features and 2.5D map matching with LRFs (Laser Range Finders), which can reduce the number of singular cases and increase accuracy. Also, path generation, path tracking, and path modification algorithms are proposed for navigation. All these algorithms are implemented on an electric scooter to construct an autonomous urban outdoor localization and navigation system. Experiments reveal the practicality of the proposed system.
Keywords
urban outdoor; localization; car-like mobile robot; LRF; navigation;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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