2A2-D30 レーザ光源と光学センサを用いたスリップに頑強な移動ロボット用位置推定システムの構築

概要

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This paper describes the development of a sensing device that can be used to estimate the position of mobile robots on slippery terrains. The device consists of an optical sensor designed for a computer mouse and dual laser light sources for generating a laser speckle pattern. It detects the motion of a moving surface at a large distance from the surface, from 80 mm to 300 mm, by tracking the laser speckle pattern. The use of dual laser light sources makes the tracking robust for large distances from the ground. Some fundamental experiments validated the performance of the device, which tracked surfaces with high accuracy under various height conditions. Finally, the device was mounted on our mobile robot, and simple experiments were conducted on a slippery sandy terrain to evaluate the usefulness of the device as a noncontact odometry system.