Implementation of on-board position estimation for a mobile robot - EKF based odometry and laser reflector landmarks detection -

Toshihiro Nishizawa, Akihisa Ohya, Shinichi Yuta

研究成果: Conference contribution

25 引用 (Scopus)

抄録

The usual method for position estimation of a wheeled mobile robot is odometry. However, it has the problem of gradual error accumulation when the robot moves. To solve this problem, we place several reflectors sparsely in the robot's work-space as landmarks, so that the robot can correct its estimated position when detecting the landmark. The new estimated position of the robot is calculated by the Maximum Likelihood Estimation (MLE) by both the position information estimated by odometry and the Reflector Detecting Sensor system (ReDS) using the laser beam. ReDS, which we developed can detect the reflector at most 3 meters away from the robot in the indoor environment. Practical experiments show that the estimated position obtained by this system is precise enough to be useful.

元の言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版者IEEE
ページ395-400
ページ数6
1
出版物ステータスPublished - 1995
外部発表Yes
イベントProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
継続期間: 1995 5 211995 5 27

Other

OtherProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
Nagoya, Jpn
期間95/5/2195/5/27

Fingerprint

Mobile robots
Robots
Lasers
Maximum likelihood estimation
Sensors
Laser beams
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

これを引用

Nishizawa, T., Ohya, A., & Yuta, S. (1995). Implementation of on-board position estimation for a mobile robot - EKF based odometry and laser reflector landmarks detection -. : Proceedings - IEEE International Conference on Robotics and Automation (巻 1, pp. 395-400). IEEE.

Implementation of on-board position estimation for a mobile robot - EKF based odometry and laser reflector landmarks detection -. / Nishizawa, Toshihiro; Ohya, Akihisa; Yuta, Shinichi.

Proceedings - IEEE International Conference on Robotics and Automation. 巻 1 IEEE, 1995. p. 395-400.

研究成果: Conference contribution

Nishizawa, T, Ohya, A & Yuta, S 1995, Implementation of on-board position estimation for a mobile robot - EKF based odometry and laser reflector landmarks detection -. : Proceedings - IEEE International Conference on Robotics and Automation. 巻. 1, IEEE, pp. 395-400, Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3), Nagoya, Jpn, 95/5/21.
Nishizawa T, Ohya A, Yuta S. Implementation of on-board position estimation for a mobile robot - EKF based odometry and laser reflector landmarks detection -. : Proceedings - IEEE International Conference on Robotics and Automation. 巻 1. IEEE. 1995. p. 395-400
Nishizawa, Toshihiro ; Ohya, Akihisa ; Yuta, Shinichi. / Implementation of on-board position estimation for a mobile robot - EKF based odometry and laser reflector landmarks detection -. Proceedings - IEEE International Conference on Robotics and Automation. 巻 1 IEEE, 1995. pp. 395-400
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