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JRM Vol.35 No.6 pp. 1435-1449
doi: 10.20965/jrm.2023.p1435
(2023)

Paper:

Self-Localization Using Trajectory Attractors in Outdoor Environments

Ken Yamane and Mitsunori Akutsu

Teikyo University
1-1 Toyosatodai, Utsunomiya, Tochigi 320-8551, Japan

Received:
May 31, 2023
Accepted:
October 9, 2023
Published:
December 20, 2023
Keywords:
self-localization, nonmonotone neural network, trajectory attractor, neurodynamics, selective desensitization method
Abstract

Self-localization in probabilistic robotics requires detailed, geographically consistent environmental maps, which increases the computational cost. In this study, we propose a simple self-localization method that does not require such maps. In the proposed method, the order structure, such as the mobile robot’s navigation route, is embedded as trajectory attractors in the state space of a nonmonotone neural network, and self-position estimation is performed by processing based on the autonomous dynamics of the network. From experiments, we demonstrated the basic performance of the proposed method, including robust self-localization in complex outdoor environments. Furthermore, self-localization is possible on multiple courses with overlapping paths by suitably varying the network dynamics based on environmental information. While issues remain, this study points to the great potential of neurodynamics-based robotic self-localization.

Self-localization using trajectory attractors

Self-localization using trajectory attractors

Cite this article as:
K. Yamane and M. Akutsu, “Self-Localization Using Trajectory Attractors in Outdoor Environments,” J. Robot. Mechatron., Vol.35 No.6, pp. 1435-1449, 2023.
Data files:
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