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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.6 No.2 pp.156-164

사각지대를 고려한 이동로봇의 인공표식기반 위치추정시스템

허 동 혁1, 박 태 형2
1(주)하기소닉 연구원, 2충북대학교 전자공학부 교수

Landmark based Localization System of Mobile Robots Considering Blind Spots

Dong Hyeog Heo1, Tae Hyoung Park2

Received : Dec. 17. 2010, Reviewed : Feb. 28. 2011, Accepted : Feb. 28. 2011


This paper propose a localization system of indoor mobile robots. The localizationsystem includes camera and artificial landmarks for global positioning, and encoders and gyrosensors for local positioning. The Kalman filter is applied to take into account the stochastic errorsof all sensors. Also we develop a dead reckoning system to estimate the global position when therobot moves the blind spots where it cannot see artificial landmarks, The learning engine usingmodular networks is designed to improve the performance of the dead reckoning system.Experimental results are then presented to verify the usefulness of the proposed localization system.


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