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

Kouhei Komiya; Shunsuke Miyashita; Yutaka Maruoka; Yutaka Uchimura

doi:10.1002/eej.22608

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

4 Citations (Scopus)

Abstract

Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is a promising method; 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 confirmed the advantages of the proposed method.

Original language	English
Pages (from-to)	66-75
Number of pages	10
Journal	Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume	190
Issue number	4
DOIs	https://doi.org/10.1002/eej.22608
Publication status	Published - 2015 Mar 1

Keywords

Map matching
Mobile robot
Occupancy grid map
Odometry
Particle filter
Self-localization

ASJC Scopus subject areas

Energy Engineering and Power Technology
Electrical and Electronic Engineering

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10.1002/eej.22608

Cite this

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abstract = "Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is a promising method; 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 confirmed the advantages of the proposed method.",

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author = "Kouhei Komiya and Shunsuke Miyashita and Yutaka Maruoka and Yutaka Uchimura",

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AU - Miyashita, Shunsuke

AU - Maruoka, Yutaka

AU - Uchimura, Yutaka

PY - 2015/3/1

Y1 - 2015/3/1

N2 - Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is a promising method; 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 confirmed the advantages of the proposed method.

AB - Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is a promising method; 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 confirmed the advantages of the proposed method.

KW - Map matching

KW - Mobile robot

KW - Occupancy grid map

KW - Odometry

KW - Particle filter

KW - Self-localization

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

Abstract

Keywords

ASJC Scopus subject areas

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