センサの柔軟な選択・設置を可能とする移動ロボットのプラグアンドプレイ型自己位置推定法(機械力学,計測,自動制御)

概要

論文の詳細を見る
In this paper, for an ego-motion estimating problem of mobile robot, we propose plug and play type ego-motion estimator that user can freely select sensor type and flexibly install the sensor. In this algorithm, each sensor is dealt as a sensor unit that has computing equipment, and each sensor unit estimate ego-motion and the sensor parameter. Moreover, sensor units are connected via network, ego-motion estimate of each unit are exchanged each other. Then the exchanged information is fused by Covariance Intersection method, which is one of a decentralized estimator. By this, this algorithm can estimate ego-motion not affected by number of sensors and sensor type. Furthermore, user can flexibly install the sensors by this algorithm because sensor parameters are estimated in each unit and compensated information are exchanged each other. In addition to this high flexibility, an experimental results denotes that our method estimate ego-motion with adequate accuracy.
2010-04-25