Control of autonomous mobile robot using map matching with optimized search range

Kouhei Komiya; Shunsuke Miyashita; Yutaka Maruoka; Yutaka Uchimura

doi:10.1541/ieejias.133.502

Control of autonomous mobile robot using map matching with optimized search range

Kouhei Komiya, Shunsuke Miyashita, Yutaka Maruoka, Yutaka Uchimura

Research output: Contribution to journal › Article › peer-review

Abstract

Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is one of the promising methods; however, adequate matching area selection is an issue to be solved. In this paper, we propose an adjustable map matching method that remedies a defect of the conventional template matching technology. The proposed method was evaluated experimentally, and the results verified the advantages of the proposed method.

Original language	English
Pages (from-to)	502-509
Number of pages	8
Journal	IEEJ Transactions on Industry Applications
Volume	133
Issue number	5
DOIs	https://doi.org/10.1541/ieejias.133.502
Publication status	Published - 2013

Keywords

Map matching
Mobile robot
Occupancy grid map
Odometry
Particle filter
Self locarization

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

Access to Document

10.1541/ieejias.133.502

Cite this

@article{5ee2989031cd4cdd961058b94d338c17,

title = "Control of autonomous mobile robot using map matching with optimized search range",

abstract = "Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is one of the promising methods; however, adequate matching area selection is an issue to be solved. In this paper, we propose an adjustable map matching method that remedies a defect of the conventional template matching technology. The proposed method was evaluated experimentally, and the results verified the advantages of the proposed method.",

keywords = "Map matching, Mobile robot, Occupancy grid map, Odometry, Particle filter, Self locarization",

author = "Kouhei Komiya and Shunsuke Miyashita and Yutaka Maruoka and Yutaka Uchimura",

year = "2013",

doi = "10.1541/ieejias.133.502",

language = "English",

volume = "133",

pages = "502--509",

journal = "IEEJ Transactions on Industry Applications",

issn = "0913-6339",

publisher = "The Institute of Electrical Engineers of Japan",

number = "5",

}

TY - JOUR

T1 - Control of autonomous mobile robot using map matching with optimized search range

AU - Komiya, Kouhei

AU - Miyashita, Shunsuke

AU - Maruoka, Yutaka

AU - Uchimura, Yutaka

PY - 2013

Y1 - 2013

N2 - Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is one of the promising methods; however, adequate matching area selection is an issue to be solved. In this paper, we propose an adjustable map matching method that remedies a defect of the conventional template matching technology. The proposed method was evaluated experimentally, and the results verified the advantages of the proposed method.

AB - Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is one of the promising methods; however, adequate matching area selection is an issue to be solved. In this paper, we propose an adjustable map matching method that remedies a defect of the conventional template matching technology. The proposed method was evaluated experimentally, and the results verified the advantages of the proposed method.

KW - Map matching

KW - Mobile robot

KW - Occupancy grid map

KW - Odometry

KW - Particle filter

KW - Self locarization

UR - http://www.scopus.com/inward/record.url?scp=84877731108&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84877731108&partnerID=8YFLogxK

U2 - 10.1541/ieejias.133.502

DO - 10.1541/ieejias.133.502

M3 - Article

AN - SCOPUS:84877731108

VL - 133

SP - 502

EP - 509

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

SN - 0913-6339

IS - 5

ER -

Control of autonomous mobile robot using map matching with optimized search range

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this