Localization method for mobile robots moving on stairs in multi-floor environments

Yu Cheol Lee, Seung Hwan Park

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations

Abstract

This paper presents about the localization technology to estimate the positions of the mobile robot that is able to navigate through the multi-floor spaces, for expanding the application ranges of the robots. For this purpose, the mobile robots can use some maps having some information about the spaces in advance. In this paper, the maps are divided into two types according to the application; as to one, it is the grid-based map that represents the locations and the structures of objects in the robot surroundings with each floor. The other is the interfloor map containing the stairs data to help the robot move into other floors. And the localization method is consisted of the floor and the inter-floor localizations. The floor localization uses the particle filter method to estimate the robot position in each floor. And the inter-floor localization can help the robot safely move to other floors by recognizing the stairs and change the coordinate system. Finally we performed the experiments in the multi-floor office spaces to verify the effectiveness of the proposed localization method by using the robot with the caterpillar wheels and the maps.

Original languageEnglish
Article number6974559
Pages (from-to)4014-4020
Number of pages7
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume2014-January
Issue numberJanuary
DOIs
StatePublished - 2014
Event2014 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2014 - San Diego, United States
Duration: 5 Oct 20148 Oct 2014

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