Publications / 2004 Proceedings of the 21st ISARC, Jeju, South Korea

Simultaneous Obstacle Detection for Mobile Robots and its Localization for Automatic Battery Recharging

Sang-Il Gho, Jong-Suk Choi, Ji-Yoon Yoo, Mun-Sang Kim

In this paper, we will research the simultaneous performing of both the obstacle detection for mobile robots and the localization for automatic battery recharging. And also, this research suggests the new-concept of sensor system using the ultrasonic devices for performing the above mentioned tasks. Robots with this new sensor system can not only easily detect the obstacles when moving, but also know their own relative position to the recharging station. For the performance verification, the proposed system will be applied to the home service robot, called 'HOMBOT II' which was developed by Intelligence Robotics Research Center at KIST(Korea Institute of Science and Technology).

Keywords: Obstacle detection, Localization, Mobile robot