TY - GEN
T1 - Applications of robot navigation based on artificial landmark in large scale public space
AU - Lee, Yu Cheol
AU - Christiand,
AU - Chae, Heesung
AU - Kim, Sung Hoon
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84860764241&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2011.6181371
DO - 10.1109/ROBIO.2011.6181371
M3 - Conference contribution
AN - SCOPUS:84860764241
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 721
EP - 726
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -