| Title |
Localization and Autonomous Navigation Using GPU-based SIFT and Virtual Force for Mobile Robots |
| Authors |
탁명환(Tak, Myung Hwan) ; 주영훈(Joo, Young Hoon) |
| DOI |
https://doi.org/10.5370/KIEE.2016.65.10.1738 |
| Keywords |
Mobile robot ; Expended Kalman filter ; GPU-based SIFT algorithm ; Kinnect ; Virtual force |
| Abstract |
In this paper, we present localization and autonomous navigation method using GPU(Graphics Processing Unit)-based SIFT(Scale-Invariant Feature Transform) algorithm and virtual force method for mobile robots. To do this, at first, we propose the localization method to recognize the landmark using the GPU-based SIFT algorithm and to update the position using extended Kalman filter. And then, we propose the A-star algorithm for path planning and the virtual force method for autonomous navigation of the mobile robot. Finally, we demonstrate the effectiveness and applicability of the proposed method through some experiments using the mobile robot with OPRoS(Open Platform for Robotic Services). |