Title :
Localization of mobile robot using laser range finder and IR landmark
Author :
Her, Kang-Wook ; Kim, Dong-Hwan ; Ha, Jong-Eun
Author_Institution :
Grad. Sch. of NID, Seoul Nat. Univ. of Sci. & Technol., Seoul, South Korea
Abstract :
Localization and mapping is important in autonomous navigation of mobile robot. In this paper, we deal with localization using 2D laser range finder and IR positioning sensor. 2D grid map is built in local coordinate using data from laser range finder. And it is integrated into global coordinate using information from IR landmark. It can provide consistent global map that can be used in the autonomous navigation of mobile robot. Experimental result under indoor environment is provided to show the feasibility.
Keywords :
SLAM (robots); infrared detectors; laser ranging; mobile robots; path planning; position measurement; 2D grid map; 2D laser range finder; IR landmark; IR positioning sensor; autonomous navigation; global coordinate; global map; indoor environment; local coordinate; mobile robot localization; Cameras; Lasers; Mobile robots; Robot kinematics; Robot vision systems; Landmark; Localization; Mobile Robot; Navigation;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
