Study on Cooperative Positioning System. Optimized Moving Strategy for the CPS-II System.
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- Hurazume Ryo
- Tokyo Institute of Technology
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- Hirose Shigeo
- Tokyo Institute of Technology
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- Iwasaki Tomomitsu
- Tokyo Institute of Technology
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- Nagata Shigemi
- FUJITSU LABORATORIES LTD.
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- Sashida Naoki
- FUJITSU LABORATORIES LTD.
Bibliographic Information
- Other Title
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- 協調ポジショニングシステムの研究 CPS‐II型システムの最適化移動形態
- キョウチョウ ポジショニング システム ノ ケンキュウ CPS-2ガタ システ
- Optimized Moving Strategy for the CPS-II System
- CPS-II型システムの最適化移動形態
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Abstract
Several position identification methods have been used for mobile robots. Dead reckoning is a popular method, but is not reliable for the measurement in long distances especially on uneven surfaces because due to the accumulation error of wheel diameter and slippage. The landmark method, which estimates current position relative to landmarks, cannot be used in an uncharted environment. We have proposed a new method called “Cooperative Positioning System (CPS).” For CPS, we divide the robots into two groups, A and B. One group, A, remains stationary and acts as a landmark while group B moves. Group B then stops and acts as a landmark for group A. This “dance” is repeated until the target position is reached. CPS has a far lower accumulation of positioning error than dead reckoning, and can work in three-dimensions which is not possible with dead reckoning. Also, CPS has inherent landmarks and therefore works in uncharted environments. In previous papers, we introduced the second prototype CPS machine model named CPS-II and its experimental result. In this paper, we show the relationship between the configuration of moving robots in CPS-II and its' positioning accuracy using analytical technique and propose optimum moving strategy to minimize positioning error even after robots move long distances.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 15 (5), 773-780, 1997
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204725512704
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- NII Article ID
- 10007549252
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4257728
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed