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APCS : Autonomous Position Correction System Using Ultrasonic Sensing for Indoor Mobile Robot Navigation
| Content Provider | Semantic Scholar |
|---|---|
| Author | Shoichi, Takashi Yamamoto |
| Copyright Year | 2001 |
| Abstract | We are developing APCS which is Autonomous Position Correction System that can autonomously cancel the error of the position based on the detection of at walls by ultrasonic sensing. When it detects landmarks in the environment map, this system corrects the position of odometry using Maximum Likelihood Estimation (MLE). The characteristic 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 of the at wall detection and matching to the environment map in detail. We will show the experimental results of matching process using a robot in a real environment. As the result of the experiment, we could con rm that this system is feasible in a disordered environment. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://www.roboken.iit.tsukuba.ac.jp/~ohya/pdf/ISRA1998-TAK.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
