Position estimation of mobile robots with internal and external sensors using uncertainty evolution technique

Yutaka Watanabe, Shin'ichi Yuta

研究成果: Conference contribution

29 被引用数 (Scopus)

抄録

A wheeled mobile robot on a flat plane can estimate its current location and orientation from the cumulative wheel rotation (dead reckoning). The method, however, has the drawback that estimation errors are accumulated as the robot moves, and the accuracy of estimation decreases. To address this problem, a positioning technique using an external sensor is needed. The authors propose a more general positioning method whereby the robot can act autonomously and move along a path unlimited by positioning. The robot can modify the position estimated by dead reckoning by repeating low-level sensing asynchronously and intermittently. This method uses not only the estimated position data but also the accuracy of the dead reckoning and the external sensor effectively.

本文言語English
ホスト出版物のタイトルProc 1990 IEEE Int Conf Rob Autom
出版社Publ by IEEE
ページ2011-2016
ページ数6
ISBN(印刷版)0818620617
出版ステータスPublished - 1990 12月 1
イベントProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
継続期間: 1990 5月 131990 5月 18

出版物シリーズ

名前Proc 1990 IEEE Int Conf Rob Autom

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period90/5/1390/5/18

ASJC Scopus subject areas

  • 工学(全般)

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