Control of autonomous mobile robot using map matching with optimized search range

被引：0

作者：

Komiya, Kouhei ^{[1
]}

Miyashita, Shunsuke ^{[2
]}

Maruoka, Yutaka ^{[1
]}

Uchimura, Yutaka ^{[1
]}

机构：

[1] Shibaura Institute of Technology, Koto-ku, Tokyo 135-8548, 3-7-5, Toyosu

[2] KUBOTA Corporation, Naniwa-ku, Osaka 556-8601, 1-2-47, Shikitsuhigashi

来源：

IEEJ Transactions on Industry Applications | 2013年 / 133卷 / 05期

基金：

日本学术振兴会;

关键词：

Map matching; Mobile robot; Occupancy grid map; Odometry; Particle filter; Self locarization;

D O I：

10.1541/ieejias.133.502

中图分类号：

学科分类号：

摘要：

Accurate estimation of self-position is indispensable for autonomous mobile robots. Map-matching-based self-positioning is one of the promising methods; however, adequate matching area selection is an issue to be solved. In this paper, we propose an adjustable map matching method that remedies a defect of the conventional template matching technology. The proposed method was evaluated experimentally, and the results verified the advantages of the proposed method. © 2013 The Institute of Electrical Engineers of Japan.

引用

页码：502 / 509

页数：7

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