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 |
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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 journal › Article
}
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 -