Positioning device for outdoor mobile robots using optical sensors and lasers
Positioning device for outdoor mobile robots using optical sensors and lasers
复制标题
使用光学传感器和激光器的户外移动机器人定位装置
DOI：
10.1080/01691864.2013.819603
复制
发表时间：
2013
影响因子：
2
通讯作者：
and Kazuya Yoshida
中科院分区：
文献类型：
--
作者：
Isaku Nagai;Genki Yamauchi;Keiji Nagatani;Keigo Watanabe;and Kazuya Yoshida
我们提出了一种利用激光和光学传感器在室外环境中定位移动机器人的新方法。通过非接触光学方法进行位置估计是有用的，因为在某些情况下，移动机器人中来自车轮里程表和全球定位系统的信息是不可靠的。接触式光学传感器，如计算机鼠标，被设计为与表面接触，在强烈的环境光条件下不能很好地工作。为了减轻室外环境的挑战，我们开发了一种带有带通滤光器和管道的光学设备，以限制太阳光并检测平移。使用两个设备可以感知移动机器人的位置，包括姿势。此外，使用准直的激光光束允许相对于表面的测量随着到表面的距离而不变。在本文中，我们描述了运动估计、设备配置和几种用于性能评估的测试。我们还给出了一辆装有我们的光学设备的车辆在户外小路上的实验定位结果。最后，我们讨论了通过将光学装置与精密陀螺仪相结合来提高姿态精度。
We propose a novel method for positioning a mobile robot in an outdoor environment using lasers and optical sensors. Position estimation via a noncontact optical method is useful because the information from the wheel odometer and the global positioning system in a mobile robot is unreliable in some situations. Contact optical sensors such as computer mouse are designed to be in contact with a surface and do not function well in strong ambient light conditions. To mitigate the challenges of an outdoor environment, we developed an optical device with a bandpass filter and a pipe to restrict solar light and to detect translation. The use of two devices enables sensing of the mobile robot’s position, including posture. Furthermore, employing a collimated laser beam allows measurements against a surface to be invariable with the distance to the surface. In this paper, we describe motion estimation, device configurations, and several tests for performance evaluation. We also present the experimental positioning results from a vehicle equipped with our optical device on an outdoor path. Finally, we discuss an improvement in postural accuracy by combining an optical device with precise gyroscopes.