2P2-E06 Development of the Position Estimation System for a Small Autonomous Mobile Robot Based on Odometry : Development of a Simple Error Ellipse Display Interface
Koji NODA, Yoshinobu ANDO, Makoto Mizukawa · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2006
The self-position estimation system is very important for an autonomous mobile robot. It is necessary to confirm whether the system works normally when the self-positional estimation system is developed, and mounted newly. At this time, the interface that presents an internal state of the robot outside is effective. This paper proposes a simple interface which displays the result of a calculation of self-position and the error ellipse based on odometry as the function of the self-position estimation system of an autonomous mobile robot. We mounted the interface on a mobile robot and confirmed its operation.