不整地環境を走行する多脚車輪型ロボットのためのデッドレコニング

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  • Dead Reckoning for Wheel-Legged Robot Which Travels on Rough Terrain

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<p>In recent years, research on dead reckoning of autonomous robots has been actively conducted. However, there are few studies about dead reckoning on complex moving mechanisms that travel in rough terrain, which are likely to be applied in actual disaster response situations. The purpose of this study is to perform dead reckoning of a wheel-legged robot with high accuracy by using only the information obtained from the internal sensor such as an inertial measurement unit, rotary encoders, and force/torque sensors. By using these sensors, it is possible to perform dead reckoning based on acceleration, angular velocity, and kinematics. Furthermore, this research focuses on improving the accuracy of dead reckoning using kinematics based on the idea of the Zero Slipping Point, and preventing the estimation accuracy from decreasing on rough terrain. To investigate the performance of the proposed dead reckoning method, experiments of the robot running were conducted using ROS and Gazebo. As a result of the simulation, it was confirmed that the accuracy of dead reckoning was improved.</p>

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