電気学会論文誌C(電子・情報・システム部門誌)
Online ISSN : 1348-8155
Print ISSN : 0385-4221
ISSN-L : 0385-4221
<知能,ロボティクス>
センサ情報信頼度マップを用いた複数センサ情報統合による自律移動ロボットの自己位置推定
道木 加絵新矢 竜大橋 臨舟洞 佑記道木 慎二鳥井 昭宏元谷 卓
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2019 年 139 巻 12 号 p. 1389-1399

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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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