Pose estimation of servo-brake-controlled caster units arbitrarily located on a mobile base

Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

In this paper, we propose a method to estimate the geometrical relationships between servo-brake-controlled caster units arbitrarily located on a moving base. The method utilizes only the velocity information of each caster unit and recursively estimates the pose of the caster units by the extended Kalman filter. In the state estimation problem, the estimation performance depends on the quality of the input signals. The input signals must contain sufficiently rich information to appropriately estimate the states. Since the system controlled by servo brakes is driven by a user-applied force, the user can arbitrarily select the input signals of velocity information. Therefore, we also suggest a simple pattern that enables users to provide sufficiently rich information for relationship estimates. Finally, the proposed method is validated in a computer simulation and an experiment using a mobile robot platform equipped with double-wheel caster units.

本文言語English
ホスト出版物のタイトルIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3456-3462
ページ数7
ISBN(電子版)9781479969340
DOI
出版ステータスPublished - 2014 10月 31
イベント2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
継続期間: 2014 9月 142014 9月 18

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
国/地域United States
CityChicago
Period14/9/1414/9/18

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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