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 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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