群ロボットによる協調ポジショニング法

Translated title of the contribution: Cooperative Positioning System with Multiple Robots

広瀬 茂男, 倉爪 亮, 長田 茂美

Research output: Contribution to journalArticle

Abstract

A number of positioning identification techniques have been used for mobile robots. Dead reckoning is a popular method, but is not reliable when a robot travels long distance or over an uneven surface because of variations in wheel diameter and wheel slippage. The landmark method, which estimates the current position relative to landmarks, cannot be used in an uncharted environment. This paper proposes a new method called"Cooperative Positioning System (CPS) ."For CPS, we divide the robots into two groups, A and B. One group, say A, remains stationary and acts as a landmark while group B moves. The moving group B then stops and acts as a landmark for group A. This process is repeated until the target robot position is reached. CPS has a far lower accumulated positioning error than dead reckoning, and can work in three-dimensions which is not possible with dead reckoning. Also, this method has inherent landmarks and therefore works in uncharted environments. This paper gives the basic consideration on positioning accuracy of CPS, and reports the positioning experiments by the constructed robots with CPS.
Translated title of the contributionCooperative Positioning System with Multiple Robots
Original languageJapanese
Pages (from-to)838-845
Number of pages8
Journal日本ロボット学会誌
Volume13
Issue number6
DOIs
Publication statusPublished - Sep 15 1995

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