二つのランドマーク方位計測とデッドレコニングに基づく実時間自己位置同定法

Translated title of the contribution: Real-Time Self-Localization Method by Using Measurements of Directions of Two Landmarks and Dead Reckoning

本村 暁, 松岡 毅, 長谷川 勉, 倉爪 亮

Research output: Contribution to journalArticle

Abstract

We propose a new real-time self-localization method for an autonomous mobile robot amidst dynamically moving multiple obstacles. This method uses direction of two landmarks and dead reckoning. Conventional method uniquely determines the pose of the robot if at least three landmarks are observed. However, robots often fail to simultaneously recognize three different landmarks in such environment: landmarks are easily occluded. When a robot detects two landmarks and measures angles of their directions, the robot is constrained to be on a circle, so we obtain a set of candidates of robot's pose. Successively the robot moves for a short period, and then observes landmarks. Displacement obtained by dead reckoning is added to pose candidates. Localization error of candidates is evaluated by difference of direction angle to the landmarks: comparison is made between measured direction of landmarks and computed ones. The robot's motion and measurement of landmarks is repeated, and the evaluation of candidates is updated. Finally correct pose is determined uniquely as the one having the smallest error accumulation. Multiple localization process in parallel results robust and accurate localization. The proposed method applies to the soccer robot in the RoboCup Middle-size league and experimental results indicate that the approach is reliable.
Original languageJapanese
Pages (from-to)311-320
Number of pages10
Journal日本ロボット学会誌
Volume23
Issue number3
DOIs
Publication statusPublished - Apr 15 2005

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二つのランドマーク方位計測とデッドレコニングに基づく実時間自己位置同定法. / 本村暁; 松岡毅; 長谷川勉; 倉爪亮.

In: 日本ロボット学会誌, Vol. 23, No. 3, 15.04.2005, p. 311-320.

Research output: Contribution to journalArticle

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abstract = "We propose a new real-time self-localization method for an autonomous mobile robot amidst dynamically moving multiple obstacles. This method uses direction of two landmarks and dead reckoning. Conventional method uniquely determines the pose of the robot if at least three landmarks are observed. However, robots often fail to simultaneously recognize three different landmarks in such environment: landmarks are easily occluded. When a robot detects two landmarks and measures angles of their directions, the robot is constrained to be on a circle, so we obtain a set of candidates of robot's pose. Successively the robot moves for a short period, and then observes landmarks. Displacement obtained by dead reckoning is added to pose candidates. Localization error of candidates is evaluated by difference of direction angle to the landmarks: comparison is made between measured direction of landmarks and computed ones. The robot's motion and measurement of landmarks is repeated, and the evaluation of candidates is updated. Finally correct pose is determined uniquely as the one having the smallest error accumulation. Multiple localization process in parallel results robust and accurate localization. The proposed method applies to the soccer robot in the RoboCup Middle-size league and experimental results indicate that the approach is reliable.",
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