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

Toshihiro Nishizawa, Akihisa Ohya, Shin'ichi Yuta

研究成果: Conference article査読

26 被引用数 (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.

本文言語English
ページ(範囲)395-400
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版ステータスPublished - 1995 1 1
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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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