Error Recovery of Autonomous Mobile Robot With Global Matching

Yasunori Abe; Yoshio Tanaka; Shintaro Sakamoto; Toshio Fukuda; Fumihito Arai; Masaru Shikano

doi:10.20965/jrm.2000.p0235

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JRM Vol.12 No.3 pp. 235-241

doi: 10.20965/jrm.2000.p0235

(2000)

Paper:

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Error Recovery of Autonomous Mobile Robot With Global Matching

Yasunori Abe^, Yoshio Tanaka^, Shintaro Sakamoto^*, Toshio Fukuda^, Fumihito Arai^, and Masaru Shikano^**

^*Shinryo Corporation

^**Nagoya University

Received:

January 28, 2000

Accepted:

March 1, 2000

Published:

June 20, 2000

Keywords:

mobile robot, vision sensing, error recovery, navigation, landmark recognition

Abstract

This paper proposes a new navigation system for an autonomous mobile robot. An earlier version of the robot navigated by recognizing a single landmark at a time, but the landmark was often lost sight of, and as a result, the robot's self-position was lost. We propose a method that enables the robot to recover from such an error. The method determines the self-position by using information on the corner, windows and doors of a room simultaneously if the single landmark is lost.

Cite this article as:

Y. Abe, Y. Tanaka, S. Sakamoto, T. Fukuda, F. Arai, and M. Shikano, “Error Recovery of Autonomous Mobile Robot With Global Matching,” J. Robot. Mechatron., Vol.12 No.3, pp. 235-241, 2000.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Error Recovery of Autonomous Mobile Robot With Global Matching

Yasunori Abe*, Yoshio Tanaka*, Shintaro Sakamoto*, Toshio Fukuda**, Fumihito Arai**, and Masaru Shikano**

Yasunori Abe^, Yoshio Tanaka^, Shintaro Sakamoto^*, Toshio Fukuda^, Fumihito Arai^, and Masaru Shikano^**