2P1-C28 半自律移動ロボットの開発 : センサフュージョンによる自己位置推定

概要

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Self localization is one of the most important issues for mobile robot control. Mobile robot localization is to estimate the position and a direction of the robot from sensor data. Odometry is generally used for robot localization, but it has a disadvantage as cumulating encoder errors. This paper presents a self localization method use odometry data, Laser Range Sensor (LRS) data and Omni-directional camera data. Self localization by LRS is to revise the self position that is checked LRS data against obstacle information in environment and is estimated from Odometry data. Self localization by Omni-directional camera is to estimate the self position from the distance information that measures distance to a landmark. We realized the self localization method that has highly precision and robustness by fusing two methods.
一般社団法人日本機械学会の論文