Positioning by tree detection sensor and dead reckoning for outdoor navigation of a mobile robot

Shoichi Maeyama, Akihisa Ohya, Shin'ichi Yuta

Research output: Contribution to conferencePaper

23 Citations (Scopus)

Abstract

We propose a positioning method for outdoor navigation of a mobile robot, by fusing dead reckoning and the tree detection sensor which consists of Sonar and Vision. A street lined with trees is assumed to be the mobile robot's outdoor work space. In this environment, trees are good landmarks for robot's position estimation. This paper describes a method for robot position estimation by fusion of dead reckoning and tree detection sensor based on maximum likelihood estimation at first. Then, the method for the detection of tree using the sensor system with sonar and vision mounted in one body is described. At last, the experimental results of self-guidance with the experimental autonomous mobile robot `YAMABICO' is presented. The result shows the effectiveness of the our method for outdoor navigation of the mobile robot.

Original languageEnglish
Pages653-660
Number of pages8
Publication statusPublished - 1994 Dec 1
EventProceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems - Las Vegas, NV, USA
Duration: 1994 Oct 21994 Oct 5

Other

OtherProceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
CityLas Vegas, NV, USA
Period94/10/294/10/5

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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    Maeyama, S., Ohya, A., & Yuta, S. (1994). Positioning by tree detection sensor and dead reckoning for outdoor navigation of a mobile robot. 653-660. Paper presented at Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Las Vegas, NV, USA, .