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

Kouhei Komiya, Shunsuke Miyashita, Yutaka Maruoka, Yutaka Uchimura

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)502-509
Number of pages8
JournalIEEJ Transactions on Industry Applications
Volume133
Issue number5
DOIs
Publication statusPublished - 2013

Fingerprint

Mobile robots
Template matching
Defects

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Control of autonomous mobile robot using map matching with optimized search range. / Komiya, Kouhei; Miyashita, Shunsuke; Maruoka, Yutaka; Uchimura, Yutaka.

In: IEEJ Transactions on Industry Applications, Vol. 133, No. 5, 2013, p. 502-509.

Research output: Contribution to journalArticle

Komiya, Kouhei ; Miyashita, Shunsuke ; Maruoka, Yutaka ; Uchimura, Yutaka. / Control of autonomous mobile robot using map matching with optimized search range. In: IEEJ Transactions on Industry Applications. 2013 ; Vol. 133, No. 5. pp. 502-509.
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