Three Tiered Self-Localization of Two Position Estimation Using Three Dimensional Environment Map and Gyro-Odometry
Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan
As in the Tsukuba Challenge, any robot that autonomously moves around outdoors must be capable of accurate self-localization. Among many existing methods for robot self-localization, the most widely used is for the robot to estimate its position by comparing it with prior map data actually acquired using its sensor while it moves around. Although we use such a self-localization method in this study, this paper proposes a new method to improve accuracy in robot self-localization. In environments with few detected objects, a lack of acquired data very likely will lead to a failure in map matching and to erroneous robot self-localization. Therefore, a method for robot self-localization that uses three-dimensional environment maps and gyro-odometry depending on the situation is proposed. Moreover, the effectiveness of the proposed method is confirmed by using data from the 2013 Tsukuba Challenge course.
-  S. Yuta, M. Mizukawa, H. Hashimoto, H. Tashiro, and T. Okubo, “An Open Experiment of Mobile Robot Autonomous Navigation at the Pedestrian Streets in the City – Tsukuba Challenge –,” IEEE Int. Conf. on Mechatronics and Automation, pp. 904-909, 2011.
-  Y. Morales, E. Takeuchi, A. Carballo, W. Tokunaga, H. Kuniyoshi, A. Aburadani, A. Hirosawa, Y. Nagasaka, Y. Suzuki, and T. Tsubouchi, “1Km Autonomous Robot Navigation on Outdoor Pedestrian Paths – Running The Tsukuba Challenge 2007 –,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 219-225, 2008.
-  H. Date and Y. Takita, “Real World Experiments of an Autonomous Mobile Robot in the Pedestrian Environment,” Proc. of Int. Conf. on Automation, Robotics and Applications, pp. 413-418, 2011.
-  J. Guivant, E. Nebot, and S. Baiker, “Autonomous Navigation and Map building Using Laser Range Sensors in Outdoor Applications,” J. of Robotic Systems, Vol.17, No.10, pp. 565-583, 2000.
-  Y. Hara, Y. Ono, T. Naka, H. Yamada, H. Kuniyoshi, A. Oshima, S. Ikeda, W. Tanaka, K. Oka, M. Matsubara, A. Amino, and S. Egawa, “Obtaining 3D Shapes with Pitch Roll Angled 2D SOKUIKI Sensors for Outdoor Autonomous Navigation,” SICE2009, pp. 70-73, 2009 (in Japanese).
-  T. Ishida, M. Sekiguchi, K. Okamura, K. Fukunaga, and A. Ohya, “The activity of FUJISOFT-Univ. of Tsukuba joint team towards the RWRC2009,” SICE2009, pp. 57-60, 2009 (in Japanese).
-  T. Yoshida, K. Irie, E. Koyanagi, and M. Tomono, “A Sensor Platform for Outdoor Navigation Using Gyro-assisted Odometry and Roundly-swinging 3D Laser Scanner,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1414-1420, 2010.
-  M. Hirai, T. Tomizawa, S. Muramatsu, M. Sato, S. Kudoh, and T. Suehiro, “Development of an Intelligent Mobility Scooter,” IEEE Int. Conf. on Mechatronics and Automation, pp. 46-52, 2012.
-  S. Thrun, W. Burgard, and D. Fox, “Probabilistic Robotics (Intelligent Robotics and Autonomous Agents),” The MIT Press, 2005.
-  E. Takeuchi, K. Ohno, and S. Tadokoro, “A robust localization method based on free space observation model,” Proc. of 2009 JSME Conf. on Robotics and Mechatronics, 1A1-E20, 2009 (in Japanese).
-  E. Takeuchi, K. Ohno, and S. Tadokoro, “Robust Localization Method based on Free-space Observation Model using 3D-Map,” IEEE Int. Conf. on Robotics and Biomimetics, pp. 973-979, 2010.
-  S. Muramatsu, M. Hirai, M. Sato, Y. Ohtani, T. Tomizawa, S. Kudoh, and T. Suehiro, “Localization based on a 3D extended space observation model,” Proc. of 2012 JSME Conf. on Robotics and Mechatronics, 2A1-L07, 2012 (in Japanese).
-  T. Tomizawa, S. Muramatsu, M. Sato, M. Hirai, S. Kudoh, and T. Suehiro, “Development of Intelligent Senior-Car in Pedestrian Walkway,” Int. J. of the Robotics Society of Japan: Advanced Robotics, Vol.38, No.8, 2011.
-  T. Tomizawa, M. Satoshi, M. Hirai, M. Sato, S. Kudoh, and T. Suehiro, “A Robust Localization for Unknown Obstacle Based on the Gridmap Matching,” J. of the Robotics Society of Japan, Vol.30, No.3, pp. 48-54, 2012 (in Japanese).