著者

竹内 栄二朗 山崎 将史 田中 一志 大野 和則 田所 諭

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.30, no.3, pp.296-304, 2012 (Released:2012-04-29)

参考文献数

19

被引用文献数

4 1 2

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This paper proposes multi-sensor localization framework for an autonomous mobile robot using multiple sensor. To realize robust localization in outdoor environments, many external sensors are needed. The propoesd localization framework in the paper is to divide the localization system into modules that contains retro-active localization function for particle filter to solve computation delay of to calculate measurement models. In this paper, solutions for multi-sensor localization are illustrated and localization experimental results in outdoor environments are described.

著者

山崎 将史 竹内 栄二朗 大野 和則 田所 諭

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.29, no.8, pp.702-709, 2011 (Released:2011-11-15)

参考文献数

13

被引用文献数

5 4

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This paper describes method to improve the accuracy of localization of mobile robot using GPS with particle filter. This method improves the accuracy of localization by removing multipath of GPS measurement data with 3D-Map. This approach analyzes area that cannot receive direct wave from GPS satellite with 3D-Map about each satellite. The particles in that area are assumed to be receiving GPS data including the multipath error. And particle's likelihood is calculated considering the multipath error. This method is useful for localization and navigation of mobile robot between buildings.