Title :
Non-stop outdoor navigation of a mobile robot-retroactive positioning data fusion with a time consuming sensor system
Author :
MAEYAMA, Shoichi ; Ohya, Akihisa ; Yuta, Shin´ichi
Author_Institution :
Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
Abstract :
We propose a position estimation technique for nonstop outdoor navigation of an autonomous mobile robot. The proposed position estimation technique is based on maximum likelihood estimation. To cope with the parallel processing of internal and external sensor information and time delay in the sensor data process, we introduce the retroactive positioning data fusion technique. The proposed technique is implemented on our small size autonomous mobile robot. An experimental result is shown, in which our robot could navigate itself without stopping even when it takes several seconds of processing time to detect landmark from external sensor data
Keywords :
computerised navigation; maximum likelihood estimation; mobile robots; position measurement; sensor fusion; signal processing; autonomous mobile robot; external sensor information; internal sensor information; landmark detection; maximum likelihood estimation; mobile robot; nonstop outdoor navigation; parallel processing; position estimation; retroactive positioning data fusion; sensor data process; time delay; time-consuming sensor system; Dead reckoning; Intelligent robots; Legged locomotion; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Robot vision systems; Sensor fusion; Sensor systems;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.525786