Feature-based localization using scannable visibility sectors

Jinsuck Kim, Roger A. Pearce, Nancy M. Amato

Research output: Contribution to journalConference articlepeer-review


This paper presents methods for navigating and localizing mobile robots in a known indoor environment. We introduce a restricted visibility concept called a scannable sector that can aid many existing navigation and localization algorithms. The scannable sectors are based on the physical characteristics of the environment and the limitations of the localization sensors used. We describe a complete navigation system that includes a scannable sector based localizer, sonar sensors, and a probabilistic roadmap path planner. Simulation and hardware results using a real robot with sonar sensors show the potential of our approach.

Original languageEnglish (US)
Pages (from-to)2854-2859
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Dec 9 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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