Robotics and Computer-Integrated Manufacturing
Volume 28, Issue 3, 2012, Pages 366-374

Topological localization with kidnap recovery using sonar grid map matching in a home environment (Article)

Choi J. , Choi M. , Chung W.K.*
  • a Department of Mechanical Engineering, Pohang University of Science and Technology, San 31, Pohang 790-784, South Korea
  • b Department of Mechanical Engineering, Pohang University of Science and Technology, San 31, Pohang 790-784, South Korea
  • c Department of Mechanical Engineering, Pohang University of Science and Technology, San 31, Pohang 790-784, South Korea

Abstract

This paper presents a method of topological localization with kidnap recovery capability in a home environment using only low-cost sonar sensors. The proposed method considers both pose tracking and relocation problems. The pose tracking is achieved by calculating node probability using grid-map matching and relative motion model. The relocation method detects the kidnap automatically and recovers it using multiple hypothesis tracking. After kidnap recovery, it also provides a criterion for selecting a reasonable hypothesis for returning to the pose tracking stage autonomously. Experimental results in a real home environment verify that the proposed localization method provides a reliable and convergent node probability when the robot is kidnapped. © 2011 Elsevier Ltd. All rights reserved.

Author Keywords

Grid-map matching Kidnap recovery Kidnap detection Topological localization Sonar sensor

Index Keywords

Sensors Grid map Grid-map matching Localization method Recovery Pose tracking Relocation problem Sonar Underwater acoustics Relative motion models Topological localization Sonar sensor home environment Multiple hypothesis tracking
Link
https://www.scopus.com/inward/record.uri?eid=2-s2.0-84858798942&doi=10.1016%2fj.rcim.2011.10.008&partnerID=40&md5=c4f1e8ff770f9ffc448803e380550b1c
DOI: 10.1016/j.rcim.2011.10.008
ISSN: 07365845
Cited by: 8
Original Language: English