Implementation of on-board position estimation for a mobile robot - EKF based odometry and laser reflector landmarks detection -

Toshihiro Nishizawa, Akihisa Ohya, Shin'ichi Yuta

Research output: Contribution to journalConference article

26 Citations (Scopus)

Abstract

The usual method for position estimation of a wheeled mobile robot is odometry. However, it has the problem of gradual error accumulation when the robot moves. To solve this problem, we place several reflectors sparsely in the robot's work-space as landmarks, so that the robot can correct its estimated position when detecting the landmark. The new estimated position of the robot is calculated by the Maximum Likelihood Estimation (MLE) by both the position information estimated by odometry and the Reflector Detecting Sensor system (ReDS) using the laser beam. ReDS, which we developed can detect the reflector at most 3 meters away from the robot in the indoor environment. Practical experiments show that the estimated position obtained by this system is precise enough to be useful.

Original languageEnglish
Pages (from-to)395-400
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 1995 Jan 1
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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