抄録
Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is a promising method; however, adequate matching area selection is an issue to be solved. In this paper, we propose an adjustable map matching method that remedies a defect of the conventional template matching technology. The proposed method was evaluated experimentally, and the results confirmed the advantages of the proposed method.
| 元の言語 | English |
|---|---|
| ページ（範囲） | 66-75 |
| ページ数 | 10 |
| ジャーナル | Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi) |
| 巻 | 190 |
| 発行部数 | 4 |
| DOI | |
| 出版物ステータス | Published - 2015 3 1 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Energy Engineering and Power Technology
これを引用
Control of autonomous mobile robot using map matching with optimized search range. / Komiya, Kouhei; Miyashita, Shunsuke; Maruoka, Yutaka; Uchimura, Yutaka.
：: Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi), 巻 190, 番号 4, 01.03.2015, p. 66-75.研究成果: Article
}
TY - JOUR
T1 - Control of autonomous mobile robot using map matching with optimized search range
AU - Komiya, Kouhei
AU - Miyashita, Shunsuke
AU - Maruoka, Yutaka
AU - Uchimura, Yutaka
PY - 2015/3/1
Y1 - 2015/3/1
N2 - Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is a promising method; however, adequate matching area selection is an issue to be solved. In this paper, we propose an adjustable map matching method that remedies a defect of the conventional template matching technology. The proposed method was evaluated experimentally, and the results confirmed the advantages of the proposed method.
AB - Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is a promising method; however, adequate matching area selection is an issue to be solved. In this paper, we propose an adjustable map matching method that remedies a defect of the conventional template matching technology. The proposed method was evaluated experimentally, and the results confirmed the advantages of the proposed method.
KW - Map matching
KW - Mobile robot
KW - Occupancy grid map
KW - Odometry
KW - Particle filter
KW - Self-localization
UR - http://www.scopus.com/inward/record.url?scp=84912535664&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84912535664&partnerID=8YFLogxK
U2 - 10.1002/eej.22608
DO - 10.1002/eej.22608
M3 - Article
AN - SCOPUS:84912535664
VL - 190
SP - 66
EP - 75
JO - Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
JF - Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
SN - 0424-7760
IS - 4
ER -