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 |
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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