起伏地における移動機の位置計測 [in Japanese] Positioning System of Vehicle on Undulating Area [in Japanese]
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Positioning system of vehicle on undulating area is developed. The system uses a fiber optic gyro, roll pitch sensor and two wheel encoders. The system realizes high precision positioning by compensating the effect of undulation using roll pitch sensor data. A prototype of autonomous mower equipped with the positioning system was produced and its performance was evaluated. The results showed that this positioning system compensated the effect of undulation and its positioning performance was equal to the performance on flat area.
JRSJ 16(5), 728-733, 1998-07-15
The Robotics Society of Japan