DocumentCode
2002432
Title
Development of JAUS-compliant local pose component
Author
Takahashi, Koichi ; Kobayashi, Kaoru ; Watanabe, K. ; Kurihara, Yosuke
Author_Institution
Dept. of Syst. Eng., Hosei Univ., Tokyo, Japan
fYear
2012
fDate
20-24 Nov. 2012
Firstpage
1621
Lastpage
1626
Abstract
Accurate and stable localization is one of most important function for autonomous mobile robot. To achieve, accurate and stable localization, we employ additional laser range finder to estimate accurate local position by fusing SLAM technique. In this paper, in order to confirm validity of our proposed localization algorithm, we implement as JAUS compliant Local Pose Component. Validity of developed JAUS compliant Local Pose Component is verified by both simulation and actual experiments.
Keywords
SLAM (robots); image fusion; laser ranging; mobile robots; pose estimation; position control; robot vision; JAUS-compliant local pose component; SLAM technique; autonomous mobile robot; laser range finder; local position estimation; localization function; simultaneous localisation and mapping; IGVC; JAUS; complex type Kalman filter; local pose component; mobile robot; navigation; self-localization;
fLanguage
English
Publisher
ieee
Conference_Titel
Soft Computing and Intelligent Systems (SCIS) and 13th International Symposium on Advanced Intelligent Systems (ISIS), 2012 Joint 6th International Conference on
Conference_Location
Kobe
Print_ISBN
978-1-4673-2742-8
Type
conf
DOI
10.1109/SCIS-ISIS.2012.6505081
Filename
6505081
Link To Document