Mobile robot and method of localization and mapping of the same
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United States of America Patent
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Oct 20, 2015
Grant Date -
Aug 28, 2014
app pub date -
Feb 26, 2014
filing date -
Feb 28, 2013
priority date (Note) -
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Abstract
A method of localization and mapping of a mobile robot may reduce position errors in localization and mapping using a plurality of vector field sensors. The method includes acquiring a relative coordinate in a movement space using an encoder, acquiring an absolute coordinate in the movement space by detecting intensity and direction of a signal using vector field sensors, defining a plurality of virtual cells on a surface of the movement space such that each of the cells has a plurality of nodes having predetermined positions, and updating position information about the nodes of the cells based on the relative coordinate acquired through the encoder and the absolute coordinate acquired through the vector field sensors and implementing localization and mapping in the movement space in a manner that position information of a new node is estimated while position information of a previous node is determined.
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