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In this paper, we propose a odometry calibration method for a mobile robot such as car-like mobile robots. The only end heading errors measured after track running experiments were used to calibrate mobile robots. There are two main advantages of using experimental heading error measurement. The first is to eliminate the approximation error and greatly reduce the calibration error. The second is the...
One of the essential technologies for autonomous navigation is localization. Localization is important because accurate pose estimation is required for path planning and motion control. In order to improve localization accuracy, a relative positioning method on the basis of accurate odometry is necessary. Odometry calibration methods for two wheel differential drive robots have been researched for...
Path planning for autonomous parking control is difficult and complicated because of its non-holonomic constraints. We proposed the parking path planner KPP (Korea University Path Planner) in our prior work. The purpose of this paper is to prove the advantages of KPP through quantitative and qualitative analyses. Numerical simulations have been carried out for comparison. This paper shows that KPP...
As one of the dominant features in the road environment, the curbs provide useful information for navigation. However, when the uncertainty model does not defined correctly, the road curb does not contribute to the estimated robot pose. In order to solve this problem, we propose the integrated localization scheme using curb features on the basis of uncertainty model of road curb. The uncertainty model...
This paper proposes a global localization method using reflectors for mobile robots. Where the natural feature is not clear, the localization using only natural features is difficult. Furthermore, where the surrounding environment is changed frequently, there is a problem needs to be updated the global map each time. For these, we propose a global localization using reflectors. Global localization...
Owing to the presence of multiple obstacles or changes in the positions of surroundings objects, the localization of a mobile robot using only natural landmarks is difficult in indoor environments. Consequently, in these environments, the use of artificial landmarks to achieve robust localization is necessary. To this end, we propose a global localization method for mobile robots, using reflectors...
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