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
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;
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
DOI :
10.1109/SCIS-ISIS.2012.6505081
