Retroactive Positioning for a Mobile Robot. To Cope with Time Consuming External Sensors.

Abstract

We propose a position estimation method for non-stop navigation of an autonomous mobile robot. The proposed method is based on the maximum likelihood estimation. To cope with the time delay in the sensor data process, we introduce a retroactive positioning data fusion method. The proposed technique is implemented on our small size autonomous mobile robot. An experimental result is shown, in which the robot could navigate itself without stopping even when it takes several seconds of processing time to recognize landmark from external sensor data.