Details

Autor(en) / Beteiligte

• Cho, Seong Ho
• Lee, Sooyong
• Yu, Wonpil

Titel

Use of Range Sensor Information for Improving Positioning Accuracy

Ist Teil von

• IFAC Proceedings Volumes, 2008, Vol.41 (2), p.1669-1674

Erscheinungsjahr

2008

Quelle

EZB-FREE-00999 freely available EZB journals

Beschreibungen/Notizen

• Range sensors are commonly used for mobile robots in order to avoid collision with obstacles and build an environmental map. Unless the robot uses an external localization device, the dead-reckoning alone incurs the accumulated position errors. This paper presents an algorithm for the position error correction. Edges and nodes are identified from the range sensor information; using the identified feature points the dead-reckoning error becomes smaller. More accurate map is built while the positional error is being reduced. The proposed algorithm is implemented on a map building device and shows the effectiveness of the proposed algorithm.