Position correction using elevation map for mobile robot on rough terrain
S. Uchida, Shoichi Maeyama, Akihisa Ohya, S. Yuta · 2002
This paper proposes a new method of position correction for a mobile robot on rough terrain. The strong point of our method is that no external sensor is needed for position correction. The information about position correction is derived from comparing between the estimated position and elevation map of the terrain by using the knowledge that the robot must touch the ground. Some experimental results are also shown.