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Control of Autonomous Mobile Robot Using Map Matching with Optimized Search Range
Author(s) -
Komiya Kouhei,
Miyashita Shunsuke,
Maruoka Yutaka,
Uchimura YUTAKA
Publication year - 2015
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22608
Subject(s) - matching (statistics) , mobile robot , artificial intelligence , computer science , template matching , computer vision , map matching , position (finance) , range (aeronautics) , robot , selection (genetic algorithm) , engineering , image (mathematics) , mathematics , global positioning system , telecommunications , statistics , finance , economics , aerospace engineering
SUMMARY Accurate estimation of self‐position is indispensable for autonomous mobile robots. Map‐matching‐based self‐positioning is a promising method; however, adequate matching area selection is an issue to be solved. In this paper, we propose an adjustable map matching method that remedies a defect of the conventional template matching technology. The proposed method was evaluated experimentally, and the results confirmed the advantages of the proposed method.