Constructing a platform of robust position estimation for mobile robot by ODR

Michio Kondo, Kouhei Ohnishi

研究成果: Paper査読

3 被引用数 (Scopus)

抄録

Today there is an increasing need for robots which move autonomously and work various operations. The robot taken up in this paper is two wheeled vehicle which has 6-D.O.F manipulator. Considering the position estimation of the vehicle, the conventional method is Dead-Reckoning method, which accuracy of estimation is almost good. But once slip occurs to the vehicle, a position estimated from dead-reckoning loses accuracy, because of wheelspin. Slip environment is often seen in our living space. So a wheeled robot has to detect a slip and compensate for the error. Counting the issue described above, mobile robot should have some sensors which obtains its position and attitude in noncontact from the floor. So in this paper, the method using optical sensor to estimate the vehicle position is proposed. This method is called Optical Dead-Reckoning (ODR) method. Two optical sensors mounted under the vehicle body is going to scan the floor and detect vehicle movement. The value obtained from ODR has no error of slip and friction of floor. Based on this ODR method, optical sensors are mounted on the actual robot, and some experimental results are shown.

本文言語English
ページ263-268
ページ数6
出版ステータスPublished - 2004 7月 12
イベントProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
継続期間: 2004 3月 252004 3月 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
国/地域Japan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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