Applications of robot navigation based on artificial landmark in large scale public space

Yu Cheol Lee, Christiand, Heesung Chae, Sung Hoon Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

This paper presents the navigation technique for service mobile robots in large scale environment using artificial landmark. The robot navigation is comprised of three major components; localization, mapping, and path planning. To implement the stable navigation system of mobile robots, many developers could use the artificial landmark to measure the accurate position of robot in large scale environment. When the mobile robots obtains the position based on the artificial landmark, they need to have the map which contains information about the positions of artificial landmarks. In this paper, Grid-based Simultaneous Localization And Mapping (Grid SLAM) method is employed to construct the map of artificial landmark using a specially made mapping cart. The artificial landmark map has been used for the real operation of four kinds of robots; patrol, guidance, delivery, cafeteria serving, relying on the artificial landmark map for their navigation at the large scale indoor environment named Tomorrow City (T-City) where the artificial landmark system is installed for the robotic technologies. The implementation results show that it is possible for mobile robots to provide various services based on the artificial landmark in large indoor environment.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages721-726
Number of pages6
DOIs
StatePublished - 2011
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 7 Dec 201111 Dec 2011

Publication series

Name2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

Conference2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Country/TerritoryThailand
CityPhuket
Period7/12/1111/12/11

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