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

Authors:
Jinwoo Choi;Minyong Choi;Wan Kyun Chung
Affiliations:
Department of Mechanical Engineering, Pohang University of Science and Technology, San 31, Pohang 790-784, Republic of Korea;Department of Mechanical Engineering, Pohang University of Science and Technology, San 31, Pohang 790-784, Republic of Korea;Department of Mechanical Engineering, Pohang University of Science and Technology, San 31, Pohang 790-784, Republic of Korea
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2012

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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.