LRF-based self-localization of mobile robot using Extended Kalman Filter

Author

Jia, Songmin ; Yasuda, Akira ; Chugo, Daisuke ; Takase, Kunikatsu

Author_Institution

Grad. of Inf. Syst., Univ. of Electro-Commun., Chofu

fYear

2008

fDate

20-22 Aug. 2008

Firstpage

2295

Lastpage

2298

Abstract

This paper presents a method of map building using interactive GUI for a mobile robot. The reason we proposed this method is that it is difficult for a mobile robot to generate an accurate map although many kinds of sensors are used. In proposed system, by using interactive GUI, the operator can modify map built by sensors, compared with the real-time video from Web camera. In order to improve self-localization of mobile robot, extended Kalman filter (EKF) was used. Some simulation and experiments have been done and the results verified using EKF can improve the precision of localizing mobile robot. This paper introduces the architecture of the proposed system.

Keywords

Kalman filters; graphical user interfaces; interactive systems; laser ranging; mobile robots; nonlinear filters; path planning; robot vision; video cameras; video signal processing; LRF-based self-localization; Web camera; extended Kalman filter; interactive GUI; map building method; mobile robot; real-time video; Cameras; Communication system control; Data processing; Graphical user interfaces; Internet; Mobile robots; Robot control; Robot vision systems; Sensor systems; Wheels; Extended Kalman Filter web camera; LRF; Mobile Robot; Self-Localization;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference, 2008

Conference_Location

Tokyo

Print_ISBN

978-4-907764-30-2

Electronic_ISBN

978-4-907764-29-6

Type

conf

DOI

10.1109/SICE.2008.4655047

Filename

4655047