Positioning by tree detection sensor and dead reckoning for outdoor navigation of a mobile robot

Author

Maeyama, Shoichi ; Ohya, Akihisa ; Yuta, Shin´ichi

Author_Institution

Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan

fYear

1994

fDate

2-5 Oct 1994

Firstpage

653

Lastpage

660

Abstract

We propose a positioning method for outdoor navigation of a mobile robot, by fusing dead reckoning and the tree detection sensor which consists of sonar and vision. A street lined with trees is assumed to be the mobile robot´s outdoor work space. In this environment, trees are good landmarks for robot´s position estimation. This paper describes a method for robot position estimation by fusion of dead reckoning and tree detection sensor based on maximum likelihood estimation at first. Then, the method for the detection of tree using the sensor system with sonar and vision mounted in one body is described. At last, the experimental results of self-guidance with the experimental autonomous mobile robot “YAMABICO” is presented. The result shows the effectiveness of the our method for outdoor navigation of the mobile robot

Keywords

computerised navigation; maximum likelihood estimation; mobile robots; navigation; object recognition; position measurement; robot vision; sensor fusion; sonar; YAMABICO; dead reckoning; maximum likelihood estimation; mobile robot; outdoor navigation; positioning; robot position estimation; self-guidance; sonar; street; tree detection sensor; vision; Dead reckoning; Maximum likelihood detection; Maximum likelihood estimation; Mobile robots; Orbital robotics; Robot sensing systems; Sensor fusion; Sensor phenomena and characterization; Sonar detection; Sonar navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 1994. IEEE International Conference on MFI '94.

Conference_Location

Las Vegas, NV

Print_ISBN

0-7803-2072-7

Type

conf

DOI

10.1109/MFI.1994.398392

Filename

398392