Position estimation of mobile robots with internal and external sensors using uncertainty evolution technique

Yutaka Watanabe, Shin'ichi Yuta

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

24 Citations (Scopus)

Abstract

A wheeled mobile robot on a flat plane can estimate its current location and orientation from the cumulative wheel rotation (dead reckoning). The method, however, has the drawback that estimation errors are accumulated as the robot moves, and the accuracy of estimation decreases. To address this problem, a positioning technique using an external sensor is needed. The authors propose a more general positioning method whereby the robot can act autonomously and move along a path unlimited by positioning. The robot can modify the position estimated by dead reckoning by repeating low-level sensing asynchronously and intermittently. This method uses not only the estimated position data but also the accuracy of the dead reckoning and the external sensor effectively.

Original languageEnglish
Title of host publicationProc 1990 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages2011-2016
Number of pages6
ISBN (Print)0818620617
Publication statusPublished - 1990 Dec 1
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: 1990 May 131990 May 18

Publication series

NameProc 1990 IEEE Int Conf Rob Autom

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period90/5/1390/5/18

ASJC Scopus subject areas

  • Engineering(all)

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