1A1-D17 サブクローラを有するクローラロボットの地形情報を用いた位置推定手法と地形の影響評価

概要

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Gyro-based odometry is an easy-to-use localization method for tracked vehicles because it uses only internal sensors. However, on account of track-terrain slippage and transformation caused by changes in sub-crawler angles, gyro-based odometry for tracked vehicles with sub-crawlers experiences difficulties in estimating the exact location of the vehicles. In order to solve this problem, we propose an estimation method with 6 degrees of freedom (DOF) for determining the position and pose of the tracked vehicles using terrain information. In the proposed method, 6-DOF are estimated using a particle filter. The subsequent position and pose of each particle are predicted using a motion model that separately considers each contact point of the vehicle with the ground. In addition, each particle is analyzed using terrain and gravity information. Experimental results demonstrate the effectiveness of this method.
一般社団法人日本機械学会の論文