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JRM Vol.18 No.2 pp. 131-138
doi: 10.20965/jrm.2006.p0131
(2006)

Paper:

Self-Localization Method Utilizing Environment-Embedded Information and Range Sensory Information

Kuniaki Kawabata*, Daisuke Itoh**, Yasushi Hada*,
Daisuke Chugo***, Hayato Kaetsu*, and Hajime Asama****

*RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako, Saitama 351-0198, Japan

**SOFTBRAIN Co. Ltd., 2-24-2 Chuo-ku, Hacchoubori, Tokyo 104-0032, Japan

***Intelligent Modeling Lab., The University of Tokyo, 2-11-16 Yayoi, Bunkyo-ku, Tokyo 113-8656, Japan

****RACE, The University of Tokyo, 5-1-5 Kashinoha, Kashiwa, Chiba 277-8568, Japan

Received:
October 27, 2005
Accepted:
February 16, 2006
Published:
April 20, 2006
Keywords:
information assistant, range data, outdoor vehicle, self-localization
Abstract

In this current research, we are developing an automatic navigation system for outdoor vehicles. Especially, in this paper we propose self-localization method based on the information stored in Information Assistant (IA) devices and range sensor information. IA is a sort of electronics device with wireless communication function based on RF-ID and stored local environment map. The vehicle reads reference data from distributed IAs in the environment and compares such data and scanning range data by using Laser Range Finder (LRF). A probabilistic calculation is introduced to match the sensory information and environment-embedded information. We had the experiment for verifying the validity of our localization method using outdoor vehicle.

Cite this article as:
Kuniaki Kawabata, Daisuke Itoh, Yasushi Hada,
Daisuke Chugo, Hayato Kaetsu, and Hajime Asama, “Self-Localization Method Utilizing Environment-Embedded Information and Range Sensory Information,” J. Robot. Mechatron., Vol.18, No.2, pp. 131-138, 2006.
Data files:
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