協調ポジショニングシステムの研究 - CPS-II型システムの最適化移動形態 -

Translated title of the contribution: Study on Cooperative Positioning System - Optimized Moving Strategy for the CPS-II System -

倉爪 亮, 広瀬 茂男, 岩崎 倫三, 長田 茂美, 指田 直毅

Research output: Contribution to journalArticle

Abstract

Several position identification methods have been used for mobile robots. Dead reckoning is a popular method, but is not reliable for the measurement in long distances especially on uneven surfaces because due to the accumulation error of wheel diameter and slippage. The landmark method, which estimates current position relative to landmarks, cannot be used in an uncharted environment. We have proposed a new method called "Cooperative Positioning System (CPS)." For CPS, we divide the robots into two groups, A and B. One group, A, remains stationary and acts as a landmark while group B moves. Group B then stops and acts as a landmark for group A. This "dance" is repeated until the target position is reached. CPS has a far lower accumulation of positioning error than dead reckoning, and can work in three-dimensions which is not possible with dead reckoning. Also, CPS has inherent landmarks and therefore works in uncharted environments. In previous papers, we introduced the second prototype CPS machine model named CPS-II and its experimental result. In this paper, we show the relationship between the configuration of moving robots in CPS-II and its' positioning accuracy using analytical technique and propose optimum moving strategy to minimize positioning error even after robots move long distances.
Original languageJapanese
Pages (from-to)773-780
Number of pages8
Journal日本ロボット学会誌
Volume15
Issue number5
DOIs
Publication statusPublished - Jul 15 1997

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Robots
Mobile robots
Wheels

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協調ポジショニングシステムの研究 - CPS-II型システムの最適化移動形態 -. / 倉爪亮; 広瀬茂男; 岩崎倫三; 長田茂美; 指田直毅.

In: 日本ロボット学会誌, Vol. 15, No. 5, 15.07.1997, p. 773-780.

Research output: Contribution to journalArticle

倉爪亮 ; 広瀬茂男 ; 岩崎倫三 ; 長田茂美 ; 指田直毅. / 協調ポジショニングシステムの研究 - CPS-II型システムの最適化移動形態 -. In: 日本ロボット学会誌. 1997 ; Vol. 15, No. 5. pp. 773-780.
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