Self-Localization Method Utilizing Environment-Embedded Information and Range Sensory Information | Zendy

Kuniaki Kawabata | Zendy; Daisuke Itoh | Zendy; Yasushi Hada | Zendy; Daisuke Chugo | Zendy; Hayato Kaetsu | Zendy; Hajime Asama | Zendy

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Self-Localization Method Utilizing Environment-Embedded Information and Range Sensory Information

Author(s) -

Kuniaki Kawabata,

Daisuke Itoh,

Yasushi Hada,

Daisuke Chugo,

Hayato Kaetsu,

Hajime Asama

Publication year - 2006

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2006.p0131

Subject(s) - sort , computer science , range (aeronautics) , probabilistic logic , wireless , function (biology) , real time computing , sensory system , computer vision , artificial intelligence , engineering , telecommunications , information retrieval , psychology , cognitive psychology , evolutionary biology , biology , aerospace engineering

In this current research, we are developing an automatic navigation system for outdoor vehicles. Especially, in this paper we propose self-localization method based on the information stored in Information Assistant (IA) devices and range sensor information. IA is a sort of electronics device with wireless communication function based on RF-ID and stored local environment map. The vehicle reads reference data from distributed IAs in the environment and compares such data and scanning range data by using Laser Range Finder (LRF). A probabilistic calculation is introduced to match the sensory information and environment-embedded information. We had the experiment for verifying the validity of our localization method using outdoor vehicle.

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