Control of Autonomous Mobile Robot Using Map Matching with Optimized Search Range

Abstract

SUMMARY Accurate estimation of self‐position is indispensable for autonomous mobile robots. Map‐matching‐based self‐positioning is a promising method; however, adequate matching area selection is an issue to be solved. In this paper, we propose an adjustable map matching method that remedies a defect of the conventional template matching technology. The proposed method was evaluated experimentally, and the results confirmed the advantages of the proposed method.