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May 17, 2015

2A2-D03 Laser Odometry in Consideration of the Tilt on the Laser Sensor for Underwater Walking Robots

  • SAITO Rui
  • ,
  • NAGAI Isaku
  • ,
  • WATANABE Keigo

Volume
2015
Number
First page
"2A2
Last page
D03(1)"-"2A2-D03(4)"
Language
Japanese
Publishing type
Publisher
The Japan Society of Mechanical Engineers

Underwater localization is important for underwater mobile robots to autonomously investigate marine resources. A method using inertial navigation system is a conventional underwater localization. However, it requires expensive sensors. In this study, we propose a laser odometry to localize an underwater walking robot. In the laser odometry using optical sensors, motion is estimated by tracking laser speckle patterns. However, measurement error increases when the sensor is tilted. In this paper, we describe the overview of our walking robot with the sensor, the principle of laser odometry, and the experimental results of investigating measurement accuracy, in which the accuracy is improved by considering a tilt angle.

Link information
CiNii Articles
http://ci.nii.ac.jp/naid/110010055366
CiNii Books
http://ci.nii.ac.jp/ncid/AA11902933
ID information
  • CiNii Articles ID : 110010055366
  • CiNii Books ID : AA11902933

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