Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot

Takashi Yamamoto, Shoichi Maeyama, Akihisa Ohya, Shin'ichi Yuta

研究成果: Paper

11 引用 (Scopus)

抜粋

We developed APCS (Autonomous Position Correction System) that can autonomously cancel the error of the estimated robot position from odometry by detecting flat walls using ultrasonic sensing. When it detects flat walls in the environment, this system corrects the estimated position using Maximum Likelihood Estimation (MLE). The feature of this system is that it can correct the position not being concerned with the behavior of the robot because the system autonomously decides the trigger of the position correction. In this paper, we will show the algorithm and implementation of APCS, and some experimental results to confirm feasibility of the system in a disordered environment.

元の言語English
ページ1141-1148
ページ数8
出版物ステータスPublished - 1999 12 1
イベント1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
継続期間: 1999 10 171999 10 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
Kyongju, South Korea
期間99/10/1799/10/21

ASJC Scopus subject areas

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

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  • これを引用

    Yamamoto, T., Maeyama, S., Ohya, A., & Yuta, S. (1999). Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot. 1141-1148. 論文発表場所 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .