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ID 53642
FullText URL
Author
Yamauchi, Genki
Nagatani, Keiji
Yoshida, Kazuya
Abstract
We propose a novel method for positioning a mobile robot in an outdoor environment using lasers and optical sensors. Position estimation via a noncontact optical method is useful because the information from the wheel odometer and the global positioning system in a mobile robot is unreliable in some situations. Contact optical sensors such as computer mouse are designed to be in contact with a surface and do not function well in strong ambient light conditions. To mitigate the challenges of an outdoor environment, we developed an optical device with a bandpass filter and a pipe to restrict solar light and to detect translation. The use of two devices enables sensing of the mobile robot’s position, including posture. Furthermore, employing a collimated laser beam allows measurements against a surface to be invariable with the distance to the surface. In this paper, we describe motion estimation, device configurations, and several tests for performance evaluation. We also present the experimental positioning results from a vehicle equipped with our optical device on an outdoor path. Finally, we discuss an improvement in postural accuracy by combining an optical device with precise gyroscopes.
Keywords
mobile robot
position estimation
laser speckle pattern
optical sensor
Note
This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 22 Jul 2013, available online: http://www.tandfonline.com/doi/full/10.1080/01691864.2013.819603
Published Date
2013-07-22
Publication Title
Advanced Robotics
Volume
volume27
Issue
issue15
Publisher
Taylor and Francis
Start Page
1147
End Page
1160
ISSN
0169-1864
NCID
AA10679021
Content Type
Journal Article
Official Url
https://doi.org/10.1080/01691864.2013.819603
language
英語
Copyright Holders
©2013 Taylor & Francis
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author
Refereed
True
DOI
Web of Science KeyUT