We propose a positioning method for outdoor navigation of a mobile robot, by fusing dead reckoning and the tree detection sensor which consists of Sonar and Vision. A street lined with trees is assumed to be the mobile robot's outdoor work space. In this environment, trees are good landmarks for robot's position estimation. This paper describes a method for robot position estimation by fusion of dead reckoning and tree detection sensor based on maximum likelihood estimation at first. Then, the method for the detection of tree using the sensor system with sonar and vision mounted in one body is described. At last, the experimental results of self-guidance with the experimental autonomous mobile robot `YAMABICO' is presented. The result shows the effectiveness of the our method for outdoor navigation of the mobile robot.
|出版ステータス||Published - 1994 12月 1|
|イベント||Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems - Las Vegas, NV, USA|
継続期間: 1994 10月 2 → 1994 10月 5
|Other||Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems|
|City||Las Vegas, NV, USA|
|Period||94/10/2 → 94/10/5|
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