レーザとコーナキューブを利用した3次元移動体の能動位置計測法

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This paper presents an active type of positioning methods for vehicle robot moving on three dimensional space such as the agricultural and constructional vehicles in terrain and the inspective vehicle in chemical and nuclear power plant, etc..If the directions to three or more reference points on environment can be simultaneously measured on a vehicle, the vehicular position and attitude can be calculated from the triangulation principle.This paper realized this concept by use of laser beam with high directivity and corner cube (retro reflector) with unique reflectional characteristics. Corner cubes are set on the reference points respectively. The directions of laser beams emitted on the vehicle are controlled so as to hit usually the corner cubes. This control, namely the laser tracking control, is easily performed on vehicle by detecting the laser beams reflected from corner cubes. During the laser tracking the directions to the corner cubes are measured on vehicle by the laser beams. And the vehicular position and attitude are determined from above measuring data by the iterative algorithm based on the triangulation principle.This paper also discusses the effectiveness of our method through some experiments for the limited case that a vehicle moves on two dimensional space.For the accurate position finding of a vehicle, the vehicle needs to differentiate the reference points and other objects on environment. The use of simple corner cube in our method can easily solve this problem with a slight equipment investment to environment. Further the use of of laser beam with high directivity enables the vehicle to determine the accurate position by the simple algorithm.
一般社団法人日本ロボット学会の論文

レーザとコーナキューブを利用した3次元移動体の能動位置計測法

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