단일 1차원 거리센서를 이용한 이동 로봇의 2차원 위치 추정 알고리즘

Abstract

This paper proposes a position estimation algorithm of mobile robots, which estimates the x and y coordinates in a 2D map using a particle filter and a single distance sensor. In addition, this paper describes a method for the indoor global localization of mobile robots by combining the proposed algorithm and Monte Carlo localization algorithm. The combination of the two algorithms can compensate for the disadvantages of the Monte Carlo localization algorithm and remarkably reduce the required time for global localization of a mobile robot. The indoor global localization method using the proposed algorithm is verified by simulation using the MATLAB Robotics System Toolbox and Gazebo simulator of ROS (Robot Operating System). Various simulations confirm that the proposed method successfully operates.