Robust geometric-based localization in indoor environments using sonar range sensors

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

Research output: Contribution to conferencePaperpeer-review

Abstract

In this paper, we describe a method for navigation and localization of a mobile robot using sonar sensors in an indoor environment. This is an enhanced version of our previous method which assumed a perfectly known environment and perfect sensor data. We remove these assumptions by computing a roadmap and selecting geometric features of the environment for localization that are robust in terms of known sensor limitations and uncertainty. In particular, our roadmap-based navigator and localizer have been redesigned to work cooperatively. To identify geometric features, a simple sensor data filter is designed. We present simulation and hardware experiments for a robot equipped with inexpensive sonar sensors in a real environment.

Original languageEnglish (US)
Pages421-426
Number of pages6
StatePublished - Jan 1 2002
Externally publishedYes
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: Sep 30 2002Oct 4 2002

Conference

Conference2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period9/30/0210/4/02

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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