Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference (한국전기전자재료학회:학술대회논문집)

The Korean Institute of Electrical and Electronic Material Engineers (한국전기전자재료학회)
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Localization of Mobile Robot using Local Map and Kalman Filtering

지역 지도와 칼만 필터를 이용한 이동 로봇의 위치 추정

  • Lim, Byung-Hyun (Dept. of Computer Applied Electric system Provincial College of Damyang) ;
  • Kim, Yeong-Min (Dept. of Computer Applied Electric system Provincial College of Damyang) ;
  • Hwang, Jong-Sun (Dept. of Computer Applied Electric system Provincial College of Damyang) ;
  • Ko, Nak-Yong (Dept. of Control & Instrumentation Eng. Chosun Univ.)
  • 임병현 (담양대학 컴퓨터응용전기시스템과) ;
  • 김영민 (담양대학 컴퓨터응용전기시스템과) ;
  • 황종선 (담양대학 컴퓨터응용전기시스템과) ;
  • 고낙용 (조선대 제어계측공학과)
  • Published : 2003.07.10
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Abstract

In this paper, we propose a pose estimation method using local map acquired from 2d laser range finder information. The proposed method uses extended kalman filter. The state equation is a navigation system equation of Nomad Super Scout II. The measurement equation is a map-based measurement equation using a SICK PLS 101-112 sensor. We describe a map consisting of geometric features such as plane, edge and corner. For pose estimation we scan external environments by laser rage finer. And then these data are fed to kalman filter to estimate robot pose and position. The proposed method enables very fast simultaneous map building and pose estimation.

Keywords