유비쿼터스 센서 환경에서의 이동로봇 위치추정

Abstract

Localization of a Mobile Robot in Ubiquitous Sensor Environment Kim, Tae Gyun Advisor : Prof. Ko, Nak Yong, Ph. D. Dept. of Control and Instrumentation Eng., Graduate School of Chosun University This paper describes a method for localization of a mobile robot. Localization is vital for a robot to move from the initial position to the goal position. Until now, several methods have been proposed for localization: deadreckoning, method of Kalman filtering, and lateration. These methods are used successfully in some specific environments. However, some problems still remain to be solved: the problem of error accumulation in deadreckoning, the problem of sensor output uncertainty, and so on. This paper focuses on improving the Monte Carlo Localization(MCL) method. Usually MCL is used with range sensors. If range sensor is used, geometric map information is needed for localization. Also, multiple clustering occurs occasionally in typical indoor environment. To solve the problems mentioned above, this paper proposes a method using distance data from fixed beacon. The proposed method removes the problem of multiple clustering. Moreover, it doesn't require geometric map information. The proposed method uses ultrasonic beacons. The robot receives information of distances from the beacons to the sensor installed on the robot. Also, through experiments and statistical analysis, probabilistic model of the distance data is found. The proposed method is tested in simulation. Also, it is verified through experiments. The experiments use four ultrasonic beacons in a room. The performance of the method is compared with that of a commercial localization equipment. These tests show that the proposed method is effective for indoor navigation