Development of compact and light-weight LRF based positioning sensor for mobile robot localization

Hirohiko Kawata, Akihisa Ohya, Shin'ich Yuta

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In this paper, we describe our positioning system based ultra-compact Laser Range Finder (LRF) for mobile robot. The system consists of reflectors as landmark and a laser range finder (LRF) named "Pos-URG". The landmarks are randomly and sparsely placed in environment, and their position and posture are known. Pos-URG has map data which consists of pose information and relation information between each landmark, which are sorted in ascending order of distance value between each other landmarks. When the Pos-URG finds multiple number of landmarks, the set of landmarks in map which correspond the detected landmarks is searched. The searching is done using not only each landmark's position and posture but also relations between them. Then, Pos-URG's position and posture is calculated with coordinate transform from sensor coordinates to map coordinates. The most important characteristic of this proposed searching method is its low computational time and it enables the method to be implemented into low-cost and low-spec CPU which is assembled into Pos-URG.

本文言語English
ホスト出版物のタイトル2009 International Conference on Advanced Robotics, ICAR 2009
出版ステータスPublished - 2009 11 18
イベント2009 International Conference on Advanced Robotics, ICAR 2009 - Munich, Germany
継続期間: 2009 6 222009 6 26

出版物シリーズ

名前2009 International Conference on Advanced Robotics, ICAR 2009

Conference

Conference2009 International Conference on Advanced Robotics, ICAR 2009
国/地域Germany
CityMunich
Period09/6/2209/6/26

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 電子工学および電気工学

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