1A1-F08 パーティクルフィルタを用いたGPS/DR複合システムによる屋外移動ロボットの自己位置推定

概要

論文の詳細を見る
Recently, a self-localization system of an autonomous mobile robot has been developed and evaluated. The self-localization is one of the most important issue for the autonomous mobile robot; especially, the robots which are used in the outdoor environments. In our research, we developed the wheeled mobile robot for outdoor environment and the self-localization system which consists of Global Positioning System (GPS) and dead reckoning using rotary encoder and heading sensor, and the mobile robot localization is estimated by particle filter. Our developed self-localization system is evaluated in the outdoor environments. In the experiments, the mobile robot achieved two-way traveling, 300m, by autonomous control. The traveling path included challenging points: passing the side of the building where is hard for GPS to work correctly, turning right or left, and U-turn.
一般社団法人日本機械学会の論文
2009-05-25