Title :
Local Grid Map Based Rough Localization For The Mobile Robot By Using Self-Organization Map
Author :
Baek, Sanghoon ; An, Suyong ; Oh, Se-young
Author_Institution :
Dept. of Electr. & Electron. Eng., Pohang Univ. of Sci. & Technol.
Abstract :
Recently, localization for mobile robot has been studied a lot. Up to now, most localization systems which are reliable and efficient are equipped with expensive sensors such as laser scanner and high performance CPU with fast computing. But, small and cost effective robot such as service robot for home cleaning cannot be equipped with costly sensor and CPU. This paper proposes localization method which can be implemented with low cost sensors and CPU while tracking robot´s pose quickly and correctly using self-organizing map
Keywords :
mobile robots; self-organising feature maps; sensors; service robots; CPU; local grid map; low cost sensors; robots pose tracking; rough localization; self-organization map; service mobile robot; Cleaning; Consumer electronics; Costs; Laser theory; Mobile robots; Neurons; Reliability engineering; Robot sensing systems; Sensor systems; Service robots; Infrared sensor; Localization; Mobile robot; SOM;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315530
