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http://dx.doi.org/10.5391/JKIIS.2012.22.3.353

Simultaneous Estimation of Landmark Location and Robot Pose Using Particle Filter Method  

Kim, Tae-Gyun (조선대학교 제어계측공학과)
Ko, Nak-Yong (조선대학교 제어계측로봇공학과)
Noh, Sung-Woo (조선대학교 정보통신공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.3, 2012 , pp. 353-360 More about this Journal
Abstract
This paper describes a SLAM method which estimates landmark locations and robot pose simultaneously. The particle filter can deal with nonlinearity of robot motion as well as the non Gaussian property of robot motion uncertainty and sensor error. The state to be estimated includes the locations of landmarks in addition to the robot pose. In the experiment, four beacons which transmit ultrasonic signal are used as landmarks. The robot receives the ultrasonic signals from the beacons and detects the distance to them. The method uses rang scanning sensor to build geometric feature of the environment. Since robot location and heading are estimated by the particle filter, the scanned range data can be converted to the geometric map. The performance of the method is compared with that of the deadreckoning and trilateration.
Keywords
SLAM; Particle filter; Landmark; Localization; Mapping; Mobile robot;
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Times Cited By KSCI : 6  (Citation Analysis)
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