基于树检测传感器和航位推算的移动机器人室外导航定位

Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI:10.1109/MFI.1994.398392

S. Maeyama, A. Ohya, S. Yuta

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引用次数: 57

摘要

提出了一种融合航位推算和由声纳和视觉组成的树木探测传感器的移动机器人户外导航定位方法。假设一条两旁有树的街道是移动机器人的室外工作空间。在这种环境下，树木是机器人位置估计的良好标志。本文首先介绍了一种基于极大似然估计的航位推算与树检测传感器融合的机器人位置估计方法。然后，介绍了利用声纳与视觉一体的传感系统对树木进行检测的方法。最后给出了实验自主移动机器人“YAMABICO”的自引导实验结果。实验结果表明了该方法在移动机器人户外导航中的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

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.<>

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来源期刊

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

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