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Mobile robot navigation using grid line patterns via probabilistic measurement modeling

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Abstract

Mobile robots are generally equipped with proprioceptive motion sensors such as odometers and inertial sensors. These sensors are used for dead-reckoning navigation in an indoor environment where GPS is not available. However, this dead-reckoning scheme is susceptible to drift error in position and heading. This study proposes using grid line patterns which are often found on the surface of floors or ceilings in an indoor environment to obtain pose (i.e., position and orientation) fix information without additional external position information by artificial beacons or landmarks. The grid lines can provide relative pose information of a robot with respect to the grid structure and thus can be used to correct the pose estimation errors. However, grid line patterns are repetitive in nature, which leads to difficulties in estimating its configuration and structure using conventional Gaussian filtering that represent the system uncertainty using a unimodal function (e.g., Kalman filter). In this study, a probabilistic sensor model to deal with multiple hypotheses is employed and an online navigation filter is designed in the framework of particle filtering. To demonstrate the performance of the proposed approach, an experiment was performed in an indoor environment using a wheeled mobile robot, and the results are presented.

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Acknowledgments

This work has been supported by “Development of basic SLAM technologies for autonomous underwater robot and software environment for MOOS-IvP” funded by Korea Research Institute of Ships & Ocean engineering (KRISO).

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Authors and Affiliations

  1. Department of Mechanical Engineering, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 305-338, Korea

    Taeyun Kim & Jinwhan Kim

  2. Korea Research Institute of Ships and Ocean Engineering, 32, Yuseong-daero 1312 beon-gil, Yuseong-gu, Daejeon, 305-343, Korea

    Hyun-Taek Choi

Authors
  1. Taeyun Kim
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  2. Jinwhan Kim
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  3. Hyun-Taek Choi
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Corresponding author

Correspondence to Jinwhan Kim.

Additional information

Communicated by Sowmya Velsamy.

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Kim, T., Kim, J. & Choi, HT. Mobile robot navigation using grid line patterns via probabilistic measurement modeling. Intel Serv Robotics 9, 141–151 (2016). https://doi.org/10.1007/s11370-015-0191-0

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