2015年5月17日
2A2-D03 水中歩行ロボットのための姿勢情報を加えたレーザオドメトリ
ロボティクス・メカトロニクス講演会講演概要集
- ,
- ,
- 巻
- 2015
- 号
- 開始ページ
- "2A2
- 終了ページ
- D03(1)"-"2A2-D03(4)"
- 記述言語
- 日本語
- 掲載種別
- 出版者・発行元
- 一般社団法人日本機械学会
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.
- リンク情報
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- CiNii Articles
- http://ci.nii.ac.jp/naid/110010055366
- CiNii Books
- http://ci.nii.ac.jp/ncid/AA11902933
- ID情報
-
- CiNii Articles ID : 110010055366
- CiNii Books ID : AA11902933