Estimation of relative positions and orientations on a car transportation system grasping two drive wheels

Naoaki Yonezawa, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

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

4 Citations (Scopus)

Abstract

This paper proposes the estimation algorithm of some positional relationships between two robots and a car for a car transportation system. The car transportation system in this paper consists of two mobile robots and they lift drive wheels of the car to move the car. The knowledge of positional relationships between two robots and the condition of nonholonomic constraints of the car are necessary to transport the car. However, it is difficult that the parameters of positional relationships are obtained by using laser range scanners, cameras and GPS in the system. In the proposed algorithm, the encoders and the force sensors on the robots are used. To estimate the positional relationships, two robots lifting a car are moved by the cooperative transportation control based on force control. And then the information of two robots' velocities which are obtained by odometry is collected. After that, the relative position and orientation between two robots, the relative orientation between each robot and a car and the wheelbase of the car are together estimated by using the information and the extended Kalman filter. In this paper, the procedure of the estimation algorithm of some positional relationships between two robots and a car and the primary experiments confirming the estimation capability of the proposed algorithm are described.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages1874-1880
Number of pages7
DOIs
Publication statusPublished - 2012 Dec 1
Event2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China
Duration: 2012 Dec 112012 Dec 14

Publication series

Name2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Other

Other2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
CountryChina
CityGuangzhou
Period12/12/1112/12/14

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biotechnology

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