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A Robust Localization for Unknown Obstacle Based on the Gridmap Matching
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- Tomizawa Tetsuo
- University of Electro and Communication
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- Muramatsu Satoshi
- University of Electro and Communication
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- Hirai Masataka
- University of Electro and Communication
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- Sato Masanori
- University of Electro and Communication
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- Kudoh Shunsuke
- University of Electro and Communication
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- Suehiro Takashi
- University of Electro and Communication
Bibliographic Information
- Other Title
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- グリッドマップのマッチングに基づく未知障害物にロバストな自己位置推定
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Description
In this paper, we describe a robust and fast self position estimation technique for mobile robot in an environment where many unknown obstacles exist. The free-space observation model is the basis of the proposed technique. Although the free-space observation achieves robust self-position estimation, it has a complicated likelihood evaluation, and particles continue to spread to a direction where are no landmarks. In this research, we solve these problems with two likelihood evaluations based on the area of free space and occupied space. We evaluated the robustness and verify the validity of the proposed method by a simulation and an experiment in a real environment.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 30 (3), 280-286, 2012
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679704469504
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- NII Article ID
- 130002152236
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- ISSN
- 18847145
- 02891824
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed
