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)


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)
Issue number4
Publication statusPublished - 2015 Mar 1



  • 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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