동적 환경에서 불완전한 지도를 이용한 이동로봇의 강인한 위치인식 알고리즘의 개발
Robust Localization Algorithm for Mobile Robots in a Dynamic Environment with an Incomplete Map
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Abstract
We present a robust localization algorithm using particle filter for mobile robots in a dynamic environment. It is difficult to describe moving obstacles like people or other robots on the map and the environment is changed after mapping. A mobile robot cannot estimate its pose robustly with this incomplete map because sensor observations are corrupted by un-modeled obstacles. The proposed algorithms provide robustness in such a dynamic environment by suppressing the effect of corrupted sensor observations with a selective update or a sampling from non-corrupted window. A selective update method makes some particles keep track of the robot, not affected by the corrupted observation. In a sampling from non-corrupted window method, particles are always sampled from several particle sets which use only non-corrupted observation. The robustness of proposed algorithm is validated with experiments and simulations.
참고문헌 (21)
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