A Nonholonomic Vehicle Maneuver based on an Estimator of Positional Relationships between the Vehicle and Two Mobile Robots Grasping Drive Wheels
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- Yonezawa Naoaki
- School of Engineering, Tohoku University
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- Kashiwazaki Koshi
- School of Engineering, Tohoku University
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- Kosuge Kazuhiro
- School of Engineering, Tohoku University
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- Hirata Yasuhisa
- School of Engineering, Tohoku University
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- Sugahara Yusuke
- School of Science and Engineering, Kokushikan University
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- Kanbayashi Takashi
- IHI Transport Machinery Co., Ltd
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- Suzuki Koki
- IHI Transport Machinery Co., Ltd
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- Murakami Kazunori
- IHI Transport Machinery Co., Ltd
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- Nakamura Kenichi
- IHI Transport Machinery Co., Ltd
Bibliographic Information
- Other Title
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- 非ホロノミックな車両と駆動輪を把持する移動ロボットとの位置関係推定に基づく車両の操り
- 非ホロノミックな車両と駆動輪を把持する移動ロボットとのに位置関係推定に基づく車両の操り
- ヒホロノミック ナ シャリョウ ト クドウリン オ ハジ スル イドウ ロボット ト ノニ イチ カンケイ スイテイ ニ モトズク シャリョウ ノ アヤツリ
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Abstract
In this article, an extended Kalman filter based estimation method is proposed for positional relationships between a vehicle and robots for a car transportation system using two robots. This system lifts only the two front wheels of a front wheel drive vehicle, which is commonly used and cannot move automatically, and positions it. Therefore, the system can be made more compact than previous car transportation systems using multiple robots. To control the system transporting cars, some parameters related to positional relationships between robots and a car's nonholonomic constraints are required. However, it is difficult to obtain accurate positional relationships using laser range scanners because the car's body is complexly curved and hides one robot from another.<br> This estimation method uses force sensors and encoders on robots instead of laser range scanners. A force based cooperative transportation control enables the system to transport cars with nonholonomic constraints without positional relationships. The positional relationships between the robots and conditions of a car's nonholonomic constraints are derived by the extended Kalman filter and a state space model relating robotic motions and positional relationships.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 31 (8), 816-827, 2013
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204727740032
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- NII Article ID
- 130003387183
- 10031201189
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 024938830
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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