レーザ燈台測定システムを用いた自律移動車輪型ロボットの高精度な動的位置測定

概要

論文の詳細を見る
The present research concerns a compensation method for dynamic measurement error using the laser beacon measuring system (LBMS), which is necessary for highly accurate positioning control and trajectory tracking control of a wheeled mobile robot (WMR). The LBMS uses particular laser beacons, each of which emits two symmetrical laser beams traveling in opposite directions around the beacon. The beacons are placed at two reference positions. Receiving beams from these beacons, a photosensor carried on a sensor unit of WMR yields four time intervals which are necessary to calculate the position of WMR. The position of a standing WMR can be measured with high accuracy by LBMS. However, the position of a moving WMR can not be measured as accurately, because the above-mentioned four time intervals change slightly owing to motion of WMR and consequently, dynamic measurement error arises. The proposed method is the one which compensates the position of a moving WMR measured by LBMS, making use of the dynamic measurement error calculated from four different time intervals. In this paper, we report on this compensation method which has been found to yield satisfactory results concerning its accuracy and repeatability after various simulations and experiments.
社団法人日本機械学会の論文
1997-03-25