2A2-E20 Research on Sensor Fusion and Position Estimation of Autonomous Robot in Outdoor Environment using Particle Filter

Abstract

In this paper, we propose a method of position estimation of autonomous mobile robot for sidewalk in outdoor environment. The position of the robot is estimated using data of LRF, GPS, azimuth sensor, Odometry and metal sensor. The metal sensor is used to detect landmark on the surface of the road. For example, we use manhole and grating as landmark. Each Sensor data which are used to estimate position are integrated by Particle Filter.