Quasi-Zenith Satellite System-based Tour Guide Robot at a Theme Park

Kohei Matsumoto, Hiroyuki Yamada, Masato Imai, Akihiro Kawamura, Yasuhiro Kawauchi, Tamaki Nakamura, Ryo Kurazume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

For autonomous service robots used in our daily environment, such as a personal mobility vehicles or delivery robots, localization is one of the most important and fundamental functions. A number of localization techniques, including simultaneous localization and mapping, have been proposed. Although a Global Navigation Satellite System (GNSS) is most commonly used in outdoor environments, its accuracy is around 10 meters and so is inadequate for navigation of an autonomous service robot. Therefore, a GNSS is usually used together with other localization techniques, such as map matching or camera-based localization. In the present study, we adopt the Quasi-Zenith Satellite System (QZSS), which became available in and around Japan on November 2018, for the localization of an autonomous service robot. The QZSS provides high-accuracy position information using electronic reference points and four quasi-zenith satellites, and has a localization error of less than 10 centimeters. In the present paper, we compare the positioning performance of the QZSS and real-time kinematic GPS, and verify the stability and the accuracy of the QZSS in an outdoor environment. In addition, we introduce a tour guide robot system using the QZSS and present the results of a guided tour experiment in a theme park.

Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1212-1217
Number of pages6
ISBN (Electronic)9781728166674
DOIs
Publication statusPublished - Jan 2020
Event2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
Duration: Jan 12 2020Jan 15 2020

Publication series

NameProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
CountryUnited States
CityHonolulu
Period1/12/201/15/20

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Instrumentation

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    Matsumoto, K., Yamada, H., Imai, M., Kawamura, A., Kawauchi, Y., Nakamura, T., & Kurazume, R. (2020). Quasi-Zenith Satellite System-based Tour Guide Robot at a Theme Park. In Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 (pp. 1212-1217). [9025964] (Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII46433.2020.9025964