Positioning by tree detection sensor and dead reckoning for outdoor navigation of a mobile robot

Shoichi Maeyama, Akihisa Ohya, Shin'ichi Yuta

研究成果: Paper査読

23 被引用数 (Scopus)

抄録

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.

本文言語English
ページ653-660
ページ数8
出版ステータスPublished - 1994 12 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 21994 10 5

Other

OtherProceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
CityLas Vegas, NV, USA
Period94/10/294/10/5

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学

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