Reliable Position Estimation Method of the Mobile Robot by Laser Scanner and Indoor GPS System

Abstract

Reliable Position Estimation Method of the Mobile Robot by Laser Scanner and Indoor GPS System Hyeyeon Chang, JongSuk Choi, Munsang Kim Pages 505-510 (2006 Proceedings of the 23rd ISARC, Tokyo, Japan, ISBN 9784990271718, ISSN 2413-5844) Abstract: The robust position estimation has been important issue of mobile robot research for past few years. However, because of physical constraint of each sensor, sensor fusion algorithm arise alternative proposal for solving the problem. In this paper, we proposed a sensor fusion algorithm for probabilistic localization of service robot using laser scanner and indoor GPS system. This scheme is a sample based algorithm as an application of Monte Calro Localization. Samples are scattered by referring to odometry data and position data of indoor GPS system. We are able to get more robust localization results by using these processes, even though the floor condition is deteriorated and there are huge obstacles. And it is possible that remove errors which are caused when the robot is blocked by unexpected obstacles for a long time. Keywords: Sensor Fusion, Probabilistic localization, Service robot, indoor GPS system, Range Image Sensor DOI: https://doi.org/10.22260/ISARC2006/0095 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley