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Yamada, Taichi; Oya, Akihisa*
Keisoku Jido Seigyo Gakkai Rombunshu, 52(12), p.661 - 670, 2016/12
This paper introduces a laser-scanner measurement model using the statistic of laser-scanner data collected in advance for a mobile robot localization. In autonomous navigation, robots usually run based on self position in a map, and laser-scanners are useful sensors for localization. However, in human living environments like urban areas and parks, laser-scanner data is unstable due to moving objects and natural objects, and it is difficult to obtain landmarks like fixed objects. Therefore, our method make a map using statistics of laser-scanner data and calculates the laser-scanner measurement model based on the statistics. Our method is applied to Monte Carlo localization/particlelter. Because the map makes possible to use the frequency and distribution of laser-scanner data for localization, our method allows a robust localization for unstable laser scanner data. In extensive experiments, our method presented an accurate localization and a robot using our method ran stably in actual sidewalks.
-irradiation on microflora and fermentation quality of silages containing tofu cake or brewer's gainTanaka, Osamu*; Akiyama, Fumiaki*; Yamada, Akihisa*; Ando, Sada*; Uegaki, Ryuichi*; Kobayashi, Ryoei*; Kume, Tamikazu
Nihon Sochi Gakkai-Shi, 47(3), p.274 - 282, 2001/08
no abstracts in English
irradiation on microflora and fermentation quality of alfalfa, orchardgrass, maize and sorgum silageTanaka, Osamu*; Akiyama, Fumiaki*; Yamada, Akihisa*; Ando, Sada*; Uegaki, Ryuichi*; Kobayashi, Ryoei*; Kume, Tamikazu
Nihon Sochi Gakkai-Shi, 47(1), p.62 - 67, 2001/04
no abstracts in English
