Correlation-Based Scan Matching Using Ultrasonic Sensors for EKF Localization

This paper presents a localization method for a mobile robot equipped with only low-cost ultrasonic sensors. Correlation-based Hough scan matching was used to obtain the robot's pose without any predefined geometric features. A local grid map and a sound pressure model of ultrasonic sensors wer...

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Bibliographic Details
Published in:Advanced robotics 2012-08, Vol.26 (13), p.1495-1519
Main Authors: Choi, Minyong, Choi, Jinwoo, Chung, Wan Kyun
Format: Article
Language:English
Subjects:
EKF
Hough transform
localization
mobile robot
scan matching
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Summary:This paper presents a localization method for a mobile robot equipped with only low-cost ultrasonic sensors. Correlation-based Hough scan matching was used to obtain the robot's pose without any predefined geometric features. A local grid map and a sound pressure model of ultrasonic sensors were used to acquire reliable scan results from uncertain and noisy ultrasonic sensor data. The robot's pose was measured using correlation-based Hough scan matching, and the covariance was calculated. Localization was achieved by fusing the measurements from scan matching with the robot's motion model through the extended Kalman filter. Experimental results verified the performance of the proposed localization method in a real home environment.
ISSN:0169-1864
1568-5535
DOI:10.1080/01691864.2012.690201