Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
We propose a resetting method with GNSS for a LIDAR based Monte Carlo Localization (MCL). This method combines the GNSS resetting method and the expansion resetting. LIDAR based MCLs are widely used for mobile robots. However, MCL has a problem referred to as the kidnapped robot problem which means dissociation of the estimated pose and the true pose by an unexpected problem. Though our previous GNSS resetting method solves this problem, this method has inefficiency toward short-range dissociation. We newly propose to add the expansion resetting method to the previous method so as to make the method enhance the efficiency. The method is evaluated with the log data obtained by an actual outdoor mobile robot.
