抄録
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.
| 本文言語 | English |
|---|---|
| ページ | 1141-1148 |
| ページ数 | 8 |
| 出版ステータス | Published - 1999 12月 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月 17 → 1999 10月 21 |
Other
| Other | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
|---|---|
| City | Kyongju, South Korea |
| Period | 99/10/17 → 99/10/21 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用