移動ロボットの屋外ナビゲーションのためのオドメトリとジャイロのセンサ融合によるデッドレコニング・システム

概要

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For mobile robots behavior such as navigation and map building, the estimation of own position is very important. In outdoor environment, the estimated position by odometry has the unpredictable error caused by traveling over an unexpected small obstacle or a bump under the wheels. In such case, the accuracy of the estimated heading direction is suddenly getting worse. In this paper, we propose a robust dead reckoning system fusing odometry with gyroscope in which the measurement mode is switched based on the difference of the angular rate measurements obtained from the odometry and the gyro. The proposed dead reckoning algorithm can reduce the ill-effect of road surface, estimate the bias drift of gyroscope and warn of a failure of sensor. As a result, we could realize the dead reckoning system which is reliable in outdoor as well as indoor environment.