Implementation of landmark-based localization on wall-based environment for mobile robot with limited sensor resources

Abdul Muis, Rizky Prasetya

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

Localization is a well-known main problem in autonomous mobile robot. Here, Extended Kalman Filter (EKF) has received tremendous interest to solve this problem. Solving localization problem using EKF is usually done using numerous sensors, whereas using limited sensor resource with EKF for localization problem remains challenging. Here, this paper proposes EKF implementation for mobile robot localization with limited sensor resource. In order to observe the environment with limited sensors, the feature of the environment is partitioned into several segments which act as landmark. Experimental result shown that the localization results have a small error and are consistent.

Original languageEnglish
Title of host publicationTENCON 2011 - 2011 IEEE Region 10 Conference
Subtitle of host publicationTrends and Development in Converging Technology Towards 2020
Pages1050-1054
Number of pages5
DOIs
Publication statusPublished - 1 Dec 2011
Event2011 IEEE Region 10 Conference: Trends and Development in Converging Technology Towards 2020, TENCON 2011 - Bali, Indonesia
Duration: 21 Nov 201124 Nov 2011

Publication series

NameIEEE Region 10 Annual International Conference, Proceedings/TENCON

Conference

Conference2011 IEEE Region 10 Conference: Trends and Development in Converging Technology Towards 2020, TENCON 2011
CountryIndonesia
CityBali
Period21/11/1124/11/11

Keywords

  • EKF
  • landmark
  • localization
  • minimum sensor

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