文章基本信息

标题：Edge-Node Map Based Localization without External Sensor Data ⁎
本地全文：下载
作者：M. Kimba ; N. Machinaka ; Y. Kuroda 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：203-208
DOI：10.1016/j.ifacol.2018.11.542
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, we propose a novel localization method which utilize a edge-node map and information from only inner sensors. To reduce integration errors, we estimate the passed edge from measured moving distance and direction, and integrate the trajectory of the odometry with the estimated edge. We performed two kinds of experiments. First, we operated the robot in four kinds of environments. Second, the robot travel autonomously using this method. From these experiments, we confirmed that our localization system works properly in various kinds of environments and for autonomous driving.
关键词：KeywordsRoboticsAutonomous mobile robotsRobust estimationRobot navigationObstacle detection