2P2-C18 複数センサの融合によるクローラ型ロボットの3次元自己位置推定(移動ロボットの自己位置推定と地図構築)

概要

論文の詳細を見る
Gyro-based odometry is a robust and easy-to-use localization method for mobile robots. However, the Gyro-based odometry for tracked vehicles has difficulties to estimate its exact localization because of track-terrain slippage and gyroscopes' bias-drifts. To solve these problems, we propose an extended 3-dimensional odometry method for tracked vehicles based on multiple internal sensor fusion. The proposed method consists of slippage- compensation using encoders and gyroscopes, attitude correction using an acceleration sensor and gyroscopes' bias value update. Finally, a performance test was carried out in real environment to confirm a validity of our approach. In this paper, we introduce the three-dimensional localization method by extended gyro-based odometry and report the experimental results.
一般社団法人日本機械学会の論文
2008-06-06