カルマンフィルタを用いた小口径トンネルロボットの水平位置の予測 (<小特集>ロボットの知能化)

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The robot investigated in this study is involved in the construction of conduits of telecommunication cables. A conventional method using electromagnetic waves for measuring the horizontal position of this robot has been used 6 stroke-by-stroke (one conduit-by-conduit) by operators on public roads; however, it is very inefficient and dangerous. Moreover, operators can't know the horizontal position stroke-by-stroke while this robot is moving. In this paper, we show a method to provide the horizontal positioning information of the movement section not measured by the conventional method and to provide operators with horizontal positioning information while the robot is moving. First, we propose a horizontal position model based on the geometrical relationship between the past locus of this robot and the present locus in the underground. The proposed model can approximately calculate the horizontal position stroke-by-stroke without using the conventional method. Next, we propose a method for predicting the horizontal position based on the Kalman filter using both the conventional method and the proposed model. The proposed method can calculate and predict the horizontal position stroke-by-stroke. Finally, we show results of computer simulation using data measured in the actual construction of a tunnel. We compare the results with those of the conventional method to verify the applicability and usefulness of this method.
社団法人日本機械学会の論文
1996-10-25

カルマンフィルタを用いた小口径トンネルロボットの水平位置の予測 (<小特集>ロボットの知能化)

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