色標識を用いた移動ロボットの絶対位置・相対位置計測の研究 : ロボット間相対位置・速度推定法

概要

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This paper proposes a localization method among indoor mobile robots (known as AGVs in factory) by using camera and color signboard. The signboard consisting of highlighted area for detection and localization and color identification pattern is attached to each robot. When the onboard camera views a signboard attached to the target robot, the robot verifies the position and velocity of the target robot based on the Interachting Multiple Model (IMM) method. The plant model is derived from the kinematics of the mobile robot. The motion of the target robot is modeled as a switching of three plant models, where they are driven by process noises of different intensities. The measurement model is built based on the geometry of the signboard observation by the camera. The simulation result illustrates the feasibility of the proposed method.
一般社団法人日本機械学会の論文
1998-07-25