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 | |
| Publication status | Published - 2013 May 20 |
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
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Cite this
Komiya, K., Miyashita, S., Maruoka, Y., & Uchimura, Y. (2013). Control of autonomous mobile robot using map matching with optimized search range. IEEJ Transactions on Industry Applications, 133(5), 502-509. https://doi.org/10.1541/ieejias.133.502