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http://dx.doi.org/10.7746/jkros.2011.6.2.156

Landmark based Localization System of Mobile Robots Considering Blind Spots  

Heo, Dong-Hyeog ((주)하기소닉)
Park, Tae-Hyoung (충북대학교 전자공학부)
Publication Information
The Journal of Korea Robotics Society / v.6, no.2, 2011 , pp. 156-164 More about this Journal
Abstract
This paper propose a localization system of indoor mobile robots. The localization system includes camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also we develop a dead reckoning system to estimate the global position when the robot moves the blind spots where it cannot see artificial landmarks, The learning engine using modular networks is designed to improve the performance of the dead reckoning system. Experimental results are then presented to verify the usefulness of the proposed localization system.
Keywords
Mobile Robots; Localization; Dead Reckoning; Artificial Landmarks; Modular Learning Network;
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