群ロボットによる協調ポジショニング法

広瀬 茂男, 倉爪 亮, 長田 茂美

研究成果: ジャーナルへの寄稿記事

抄録

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.
元の言語Japanese
ページ(範囲)838-845
ページ数8
ジャーナル日本ロボット学会誌
13
発行部数6
DOI
出版物ステータス出版済み - 9 15 1995

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Robots
Wheels
Mobile robots
Experiments

これを引用

群ロボットによる協調ポジショニング法. / 広瀬茂男; 倉爪亮; 長田茂美.

:: 日本ロボット学会誌, 巻 13, 番号 6, 15.09.1995, p. 838-845.

研究成果: ジャーナルへの寄稿記事

広瀬茂男 ; 倉爪亮 ; 長田茂美. / 群ロボットによる協調ポジショニング法. :: 日本ロボット学会誌. 1995 ; 巻 13, 番号 6. pp. 838-845.
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