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

Kouhei Komiya, Shunsuke Miyashita, Yutaka Maruoka, Yutaka Uchimura

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)66-75
Number of pages10
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume190
Issue number4
DOIs
Publication statusPublished - 2015 Mar 1

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Mobile robots
Template matching
Defects

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Energy Engineering and Power Technology

Cite this

Control of autonomous mobile robot using map matching with optimized search range. / Komiya, Kouhei; Miyashita, Shunsuke; Maruoka, Yutaka; Uchimura, Yutaka.

In: Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi), Vol. 190, No. 4, 01.03.2015, p. 66-75.

Research output: Contribution to journalArticle

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