Mobile Robot Localization with an Incomplete Map on Non-Stationary Environments

DOI Web Site Web Site 10 References Open Access

Bibliographic Information

Other Title
  • 非静的環境における不完全地図を用いたロボットによる自己位置推定法
  • ヒセイテキ カンキョウ ニ オケル フカンゼン チズ オ モチイタ ロボット ニ ヨル ジコ イチ スイテイホウ

Search this article

Description

One of the fundamental problems of the mobile robots is self-localization, i.e. to estimate the self-position by comparing sensor data and a map. In non-stationary enviroments, a robot should avoid to use changed objects as landmarks in the localization. In this paper, we propose a self-localization method that is robust against changes in environments. The method identifies changes from noisy and ambiguous sensor data. Since an object with a random shape may be added at a random position, it genetates and utilizes multiple hypotheses about the changes. A number of simulation experiments have been performed in various environments, to demonstrate the effectiveness of the method.

Journal

References(10)*help

See more

Keywords

Details 詳細情報について

Report a problem

Back to top