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This paper proposes a robust 3D (dimension) map building system for a mobile robot using a LRF (Laser Range Finder). Instead of the expensive and bulky 3D laser scanner, the LRF can be utilized and installed on the mobile robot for the map building and the autonomous navigation. This research, the scanning operations are performed while the mobile robot moved on the slanted surface and ground without...
This paper proposes a new algorithm for improving the estimation accuracy of travel distance of a mobile robot at the outdoor environment by estimating the slanted angle of road. When a mobile robot is movement on the flat surface, the travel distance can be estimated by the encoder values directly even though it includes some errors caused by the slippage and the disturbances. However, when the mobile...
This paper presents an efficient localization scheme for an indoor mobile robot using RFID systems. The mobile robot carries an RFID reader at the bottom of the chassis, which reads the RFID tags on the floor to localize the mobile robot. Each of the RFID tags store its own absolute position which is used to calculate the position, orientation and velocity of the mobile robot. However, a localization...
We propose a sensor-fusion technique where the data sets for previous moments are properly transformed and fused into the current data sets to allow accurate measurements, such as the distance to an obstacle or the location of the service robot itself. In conventional fusion schemes, measurements are dependent on the current data sets. As a result, more sensors are required to measure a certain physical...
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