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ID 53642
フルテキストURL
著者
Yamauchi, Genki Graduate School of Engineering, Tohoku University
Nagatani, Keiji Graduate School of Engineering, Tohoku University
Watanabe, Keigo Department of Intelligent Mechanical Systems , Okayama University Kaken ID publons researchmap
Yoshida, Kazuya Graduate School of Engineering, Tohoku University
抄録
We propose a novel method for positioning a mobile robot in an outdoor environment using lasers and optical sensors. Position estimation via a noncontact optical method is useful because the information from the wheel odometer and the global positioning system in a mobile robot is unreliable in some situations. Contact optical sensors such as computer mouse are designed to be in contact with a surface and do not function well in strong ambient light conditions. To mitigate the challenges of an outdoor environment, we developed an optical device with a bandpass filter and a pipe to restrict solar light and to detect translation. The use of two devices enables sensing of the mobile robot’s position, including posture. Furthermore, employing a collimated laser beam allows measurements against a surface to be invariable with the distance to the surface. In this paper, we describe motion estimation, device configurations, and several tests for performance evaluation. We also present the experimental positioning results from a vehicle equipped with our optical device on an outdoor path. Finally, we discuss an improvement in postural accuracy by combining an optical device with precise gyroscopes.
キーワード
mobile robot
position estimation
laser speckle pattern
optical sensor
備考
This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 22 Jul 2013, available online: http://www.tandfonline.com/doi/full/10.1080/01691864.2013.819603
発行日
2013-07-22
出版物タイトル
Advanced Robotics
27巻
15号
出版者
Taylor and Francis
開始ページ
1147
終了ページ
1160
ISSN
0169-1864
NCID
AA10679021
資料タイプ
学術雑誌論文
オフィシャル URL
https://doi.org/10.1080/01691864.2013.819603
言語
English
著作権者
©2013 Taylor & Francis
論文のバージョン
author
査読
有り
DOI
Web of Science KeyUT