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JRM Vol.12 No.3 pp. 235-241
doi: 10.20965/jrm.2000.p0235
(2000)

Paper:

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