Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot

Takashi Yamamoto; Shoichi Maeyama; Akihisa Ohya; Shin'ichi Yuta

Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot

Takashi Yamamoto, Shoichi Maeyama, Akihisa Ohya, Shin'ichi Yuta

Graduate School of Natural Science and Technology

Research output: Contribution to conference › Paper › peer-review

12 Citations (Scopus)

Abstract

We developed APCS (Autonomous Position Correction System) that can autonomously cancel the error of the estimated robot position from odometry by detecting flat walls using ultrasonic sensing. When it detects flat walls in the environment, this system corrects the estimated position using Maximum Likelihood Estimation (MLE). The feature of this system is that it can correct the position not being concerned with the behavior of the robot because the system autonomously decides the trigger of the position correction. In this paper, we will show the algorithm and implementation of APCS, and some experimental results to confirm feasibility of the system in a disordered environment.

Original language	English
Pages	1141-1148
Number of pages	8
Publication status	Published - Dec 1 1999
Event	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: Oct 17 1999 → Oct 21 1999

Other

Other	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
City	Kyongju, South Korea
Period	10/17/99 → 10/21/99

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Cite this

Yamamoto, T., Maeyama, S., Ohya, A., & Yuta, S. (1999). Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot. 1141-1148. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea.

Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot. / Yamamoto, Takashi; Maeyama, Shoichi; Ohya, Akihisa et al.
1999. 1141-1148 Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea.

Research output: Contribution to conference › Paper › peer-review

Yamamoto, T, Maeyama, S, Ohya, A & Yuta, S 1999, 'Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot', Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, 10/17/99 - 10/21/99 pp. 1141-1148.

Yamamoto T, Maeyama S, Ohya A, Yuta S. Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot. 1999. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea.

Yamamoto, Takashi ; Maeyama, Shoichi ; Ohya, Akihisa et al. / Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea.8 p.

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Implementation of landmark-based position estimation function as an autonomous and distributed system for a mobile robot

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