Development of motion model and position correction method using terrain information for tracked vehicles with sub-tracks

Ken Sakurada, Eijiro Takeuchi, Kazunori Ohno, Satoshi Tadokoro

研究成果: Conference contribution

抄録

Gyro-based odometry is an easy-to-use localization method for tracked vehicles because it uses only internal sensors. However, on account of track-terrain slippage and transformation caused by changes in sub-track angles, gyro-based odometry for tracked vehicles with sub-tracks experiences difficulties in estimating the exact location of the vehicles. In order to solve this problem, we propose an estimation method with 6 degrees of freedom (DOF) for determining the position and pose of the tracked vehicles using terrain information. (In this study, position refers to the robot's position and pose.) In the proposed method, position are estimated using a particle filter. The subsequent position of each particle are predicted using a motion model that separately considers each contact point of the vehicle with the ground. In addition, each particle is analyzed using terrain and gravity information. Experimental results demonstrate the effectiveness of this method.

本文言語English
ホスト出版物のタイトルIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
ページ370-376
ページ数7
DOI
出版ステータスPublished - 2010
イベント23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
継続期間: 2010 10月 182010 10月 22

出版物シリーズ

名前IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
国/地域Taiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

フィンガープリント

「Development of motion model and position correction method using terrain information for tracked vehicles with sub-tracks」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル