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

DOI 被引用文献4件 参考文献8件

書誌事項

タイトル別名
  • A Robust Localization for Unknown Obstacle Based on the Gridmap Matching

説明

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.

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被引用文献 (4)*注記

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参考文献 (8)*注記

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キーワード

詳細情報 詳細情報について

  • CRID
    1390282679704469504
  • NII論文ID
    130002152236
  • DOI
    10.7210/jrsj.30.280
  • ISSN
    18847145
    02891824
  • 本文言語コード
    ja
  • データソース種別
    • JaLC
    • Crossref
    • CiNii Articles
  • 抄録ライセンスフラグ
    使用不可

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