Development of compact and light-weight LRF based positioning sensor for mobile robot localization

Hirohiko Kawata, Akihisa Ohya, Shin'ich Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we describe our positioning system based ultra-compact Laser Range Finder (LRF) for mobile robot. The system consists of reflectors as landmark and a laser range finder (LRF) named "Pos-URG". The landmarks are randomly and sparsely placed in environment, and their position and posture are known. Pos-URG has map data which consists of pose information and relation information between each landmark, which are sorted in ascending order of distance value between each other landmarks. When the Pos-URG finds multiple number of landmarks, the set of landmarks in map which correspond the detected landmarks is searched. The searching is done using not only each landmark's position and posture but also relations between them. Then, Pos-URG's position and posture is calculated with coordinate transform from sensor coordinates to map coordinates. The most important characteristic of this proposed searching method is its low computational time and it enables the method to be implemented into low-cost and low-spec CPU which is assembled into Pos-URG.

Original languageEnglish
Title of host publication2009 International Conference on Advanced Robotics, ICAR 2009
Publication statusPublished - 2009 Nov 18
Event2009 International Conference on Advanced Robotics, ICAR 2009 - Munich, Germany
Duration: 2009 Jun 222009 Jun 26

Publication series

Name2009 International Conference on Advanced Robotics, ICAR 2009

Conference

Conference2009 International Conference on Advanced Robotics, ICAR 2009
CountryGermany
CityMunich
Period09/6/2209/6/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Development of compact and light-weight LRF based positioning sensor for mobile robot localization'. Together they form a unique fingerprint.

  • Cite this

    Kawata, H., Ohya, A., & Yuta, S. (2009). Development of compact and light-weight LRF based positioning sensor for mobile robot localization. In 2009 International Conference on Advanced Robotics, ICAR 2009 [5174757] (2009 International Conference on Advanced Robotics, ICAR 2009).