2019 年 139 巻 12 号 p. 1389-1399
We have proposed a localization method of an autonomous mobile robot using multiple sensor information in order to realize robust localization. This method is based on Particle Filter, and bias probability distributions are detected and eliminated before integration of probability distributions for localization. However, the calculation cost is enormous because it is proportional to the number of sensors and particles. In order to reduce the calculation cost for localization, we propose a new localization method using the reliability map of sensor information which is generated based on selection results of sensor information in the previous method in this paper. The usefulness of the proposed method is discussed with some experimental results with a real robot in various real environments.
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