SELF-LOCALIZATION METHOD USING A PROBABILISTIC OCCUPANCY GRID MAP UNDER ENVIRONMENT OF MOVING OBSTACLES EXISTENCE

This paper describes a new self-localization algorithm for the mobile robots under environment of moving obstacles existing such as urban area or parks. In proposed system, to navigate stability, the current global position of the mobile robot is estimated with the map matching between a probabilistic occupancy grid map and stored global probabilistic occupancy grid map. The probabilistic map is generated by occupation grid based on profile of the Laser range finder and updated obstacles information with uncertainty model. In order to correct Gyro error, we apply the ICP method with probabilistic occupancy grid maps regularly. To confirm the validity of proposed self-localization system, an electric wheelchair based mobile robot is used for implementation and tested actual experiments.修士(工学)法政大学 (Hosei University