Topological Localization with Kidnap Recovery Using Sonar Grid map Matching in a Home Environment
SCIE
SCOPUS
- Title
- Topological Localization with Kidnap Recovery Using Sonar Grid map Matching in a Home Environment
- Authors
- Jinwoo Choi; Minyong Choi; Chung, WK
- Date Issued
- 2012-06
- Publisher
- ELSEVIER
- Abstract
- This paper presents a method of topological localization with kidnap recovery capability in a home environment using only low-cost sonar sensors. The proposed method considers both pose tracking and relocation problems. The pose tracking is achieved by calculating node probability using grid-map matching and relative motion model. The relocation method detects the kidnap automatically and recovers it using multiple hypothesis tracking. After kidnap recovery, it also provides a criterion for selecting a reasonable hypothesis for returning to the pose tracking stage autonomously. Experimental results in a real home environment verify that the proposed localization method provides a reliable and convergent node probability when the robot is kidnapped. (C) 2011 Elsevier Ltd. All rights reserved.
- Keywords
- Topological localization; Kidnap detection; Kidnap recovery; Sonar sensor; Grid-map matching; TRACKING; CONSTRAINTS; RELOCATION
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/16624
- DOI
- 10.1016/J.RCIM.2011.10.008
- ISSN
- 0736-5845
- Article Type
- Article
- Citation
- Robotics andComputer-IntegratedManufacturing, vol. 28, no. 3, page. 366 - 374, 2012-06
- Files in This Item:
- There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.