Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot

Takashi Yamamoto, Shoichi Maeyama, Akihisa Ohya, Shin'ichi Yuta

Research output: Contribution to conferencePaper

11 Citations (Scopus)

Abstract

We developed APCS (Autonomous Position Correction System) that can autonomously cancel the error of the estimated robot position from odometry by detecting flat walls using ultrasonic sensing. When it detects flat walls in the environment, this system corrects the estimated position using Maximum Likelihood Estimation (MLE). The feature of this system is that it can correct the position not being concerned with the behavior of the robot because the system autonomously decides the trigger of the position correction. In this paper, we will show the algorithm and implementation of APCS, and some experimental results to confirm feasibility of the system in a disordered environment.

Original languageEnglish
Pages1141-1148
Number of pages8
Publication statusPublished - 1999 Dec 1
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: 1999 Oct 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Yamamoto, T., Maeyama, S., Ohya, A., & Yuta, S. (1999). Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot. 1141-1148. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .