Self-Localization Method Utilizing Environment-Embedded Information and Range Sensory Information

被引：0

作者：

Kawabata, Kuniaki ^{[1
]}

Itoh, Daisuke ^{[2
]}

Hada, Yasushi ^{[1
]}

Chugo, Daisuke ^{[3
]}

Kaetsu, Hayato ^{[1
]}

Asama, Hajime ^{[4
]}

机构：

[1] RIKEN, Inst Phys & Chem Res, 2-1 Hirosawa, Wako, Saitama 3510198, Japan

[2] SOFTBRAIN Co Ltd, Tokyo 1040032, Japan

[3] Univ Tokyo, Intelligent Modeling Lab, Bunkyo Ku, Tokyo 1138656, Japan

[4] Univ Tokyo, RACE, Kashiwa, Chiba 2778568, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2006年 / 18卷 / 02期

关键词：

information assistant; range data; outdoor vehicle; self-localization;

D O I：

10.20965/jrm.2006.p0131

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this current research, we are developing an automatic navigation system for outdoor vehicles. Especially, in this paper we propose self-localization method based on the information stored in Information Assistant (IA) devices and range sensor information. IA is a sort of electronics device with wireless communication function based on RF-ID and stored local environment map. The vehicle reads reference data from distributed IAs in the environment and compares such data and scanning range data by using Laser Range Finder (LRF). A probabilistic calculation is introduced to match the sensory information and environment-embedded information. We had the experiment for verifying the validity of our localization method using outdoor vehicle.

引用

页码：131 / 138

页数：8

共 15 条

[1]

ARAI Y, 1996, DISTRIBUTED AUTONOMO, V2, P401

[2]

Asama H., 2001, RIKEN Review, P16

[3]

Chikayama Y., 2001, P ROBOMEC 01

[4] Sequential localisation and map-building for real-time computer vision and robotics [J].

Davison, AJ ;

Kita, N .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2001, 36 (04) :171-183

[5] Localization methods for a mobile robot in urban environments [J].

Georgiev, A ;

Allen, PK .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (05) :851-864

[6]

Guivant J, 2000, J ROBOTIC SYST, V17, P565, DOI 10.1002/1097-4563(200010)17:10<565::AID-ROB4>3.0.CO

[7]

2-6

[8] Environmental map building for a mobile robot using infrared range-finder sensors [J].

Ha, YS ;

Kim, HH .

ADVANCED ROBOTICS, 2004, 18 (04) :437-450

[9]

Kawabata K., 2004, P 17 WORKSH CIRC SYS, P81

[10]

Leonard J. J., 1991, Proceedings IROS '91. IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. Intelligence for Mechanical Systems (Cat. No.91TH0375-6), P1442, DOI 10.1109/IROS.1991.174711

← 1 2 →