Non-stop outdoor navigation of a mobile robot - retroactive positioning data fusion with a time consuming sensor system

Shoichi Maeyama, Akihisa Ohya, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Citations (Scopus)

Abstract

We propose a position estimation technique for non-stop outdoor navigation of an autonomous mobile robot. The proposed position estimation technique is based on maximum likelihood estimation. To cope with the parallel processing of internal and external sensor information and time delay in the sensor data process, we introduce the retroactive positioning data fusion technique. The proposed technique is implemented on our small size autonomous mobile robot. An experimental result is shown, in which our robot could navigate itself without stopping even when it takes several seconds of processing time to detect landmark from external sensor data.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages130-135
Number of pages6
Volume1
Publication statusPublished - 1995
Externally publishedYes
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: 1995 Aug 51995 Aug 9

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period95/8/595/8/9

Fingerprint

Data fusion
Mobile robots
Navigation
Sensors
Maximum likelihood estimation
Processing
Time delay
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Maeyama, S., Ohya, A., & Yuta, S. (1995). Non-stop outdoor navigation of a mobile robot - retroactive positioning data fusion with a time consuming sensor system. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 130-135). Piscataway, NJ, United States: IEEE.

Non-stop outdoor navigation of a mobile robot - retroactive positioning data fusion with a time consuming sensor system. / Maeyama, Shoichi; Ohya, Akihisa; Yuta, Shinichi.

IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 1 Piscataway, NJ, United States : IEEE, 1995. p. 130-135.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Maeyama, S, Ohya, A & Yuta, S 1995, Non-stop outdoor navigation of a mobile robot - retroactive positioning data fusion with a time consuming sensor system. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 1, IEEE, Piscataway, NJ, United States, pp. 130-135, Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 95/8/5.
Maeyama S, Ohya A, Yuta S. Non-stop outdoor navigation of a mobile robot - retroactive positioning data fusion with a time consuming sensor system. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 1. Piscataway, NJ, United States: IEEE. 1995. p. 130-135
Maeyama, Shoichi ; Ohya, Akihisa ; Yuta, Shinichi. / Non-stop outdoor navigation of a mobile robot - retroactive positioning data fusion with a time consuming sensor system. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 1 Piscataway, NJ, United States : IEEE, 1995. pp. 130-135
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