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

Shoichi Maeyama, Akihisa Ohya, Shin'ichi Yuta

Research output: Contribution to conferencePaper

25 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
Pages130-135
Number of pages6
Publication statusPublished - 1995 Jan 1
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

ASJC Scopus subject areas

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

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  • 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. 130-135. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .