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Memory-Based Navigation using Data Sequence of Laser Range Finder


English / Japanese


Abstract:

We propose a novel navigation method for a mobile robot using a laser range finder based on the memory-based approach. A robot memorizes sequential scanning data of the laser range finder in the recording run. Then the localization of the robot is achieved based on the matching between the current scan and memorized scan sequence in the autonomous run. Experimental results of the recording run and the autonomous navigation are presented to show the feasibility of the proposed method.



Y. Adachi, H. Saito, Y. Matsumoto and T. Ogasawara :
Memory-Based Navigation using Data Sequence of Laser Range Finder ,
Proceedings of 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA 2003), TP3-V-3, 2003.