Abstract
This study presents an alternative global localization scheme that uses dual laser scanners and the pure rotational motion of a mobile robot. The proposed method extracts the initial state of the robot’s surroundings to select robot pose candidates, and determines the sample distribution based on the given area map. Localization success is determined by calculating the similarity of the robot’s sensor state compared to that which would be expected at the estimated pose on the given map. In both simulations and experiments, the proposed method shows sufficient efficiency and speed to be considered robust to real-world conditions and applications.
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Recommended by Associate Editor Kang-Hyun Jo under the direction of Editor Fuchun Sun. This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 10051155).
Minkuk Jung received his B.S. degree in Electrical and Electronics Engineering from Chung-Ang University in 2011. He is now an M.S. and Ph.D. candidate in the School of Mechatronics at Korea University. His research includes mobile robot localization and navigation, and design of soft architecture.
Jae-Bok Song received his B.S. and M.S. degrees in Mechanical Engineering from Seoul National Univ., Seoul, Korea, in 1983 and 1985, respectively, and his Ph.D. degree in Mechanical Engineering from MIT, Cambridge, MA, in 1992. He joined the faculty of the Department of Mechanical Engineering, Korea University, Seoul, Korea in 1993. His current research interests are robot navigation, and the design and control of robotic systems.
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Jung, M., Song, JB. Efficient autonomous global localization for service robots using dual laser scanners and rotational motion. Int. J. Control Autom. Syst. 15, 743–751 (2017). https://doi.org/10.1007/s12555-015-0272-z
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DOI: https://doi.org/10.1007/s12555-015-0272-z