Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments
Joint Authors
Lee, Hyunsuk
Park, Jooyoung
Chung, Woojin
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-04-08
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Urban road environments that have pavement and curb are characterized as semistructured road environments.
In semistructured road environments, the curb provides useful information for robot navigation.
In this paper, we present a practical localization method for outdoor mobile robots using the curb features in semistructured road environments.
The curb features are especially useful in urban environment, where the GPS failures take place frequently.
A curb extraction is conducted on the basis of the Kernel Fisher Discriminant Analysis (KFDA) to minimize false detection.
We adopt the Extended Kalman Filter (EKF) to combine the curb information with odometry and Differential Global Positioning System (DGPS).
The uncertainty models for the sensors are quantitatively analyzed to provide a practical solution.
American Psychological Association (APA)
Lee, Hyunsuk& Park, Jooyoung& Chung, Woojin. 2014. Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-466504
Modern Language Association (MLA)
Lee, Hyunsuk…[et al.]. Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments. Mathematical Problems in Engineering No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-466504
American Medical Association (AMA)
Lee, Hyunsuk& Park, Jooyoung& Chung, Woojin. Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-466504
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-466504