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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, 2000Accepted:March 1, 2000Published: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.Data files:
Copyright© 2000 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
