レーザとコーナキューブによる屋外移動体の位置補正法

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  • A Method of Position Compensation for Outdoor Vehicle by Using Laser and Corner Cube Reflector
  • レーザ ト コーナキューブ ニ ヨル オクガイ イドウタイ ノ イチ ホセイホ

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This paper discusses a position compensation method for an outdoor robot vehicle with a dead-reckoning system by using laser and corner cube reflector. In this system two corner cubes are set on both sides of a commanded path of the vehicle, and four laser transceiver units are mounted on the vehicle. The moving distances of the vehicle are measured successively when each laser emitted from the laser transceiver unit hits the corner cube. The accurate position and heading of the vehicle are determined by the triangulation principle based on the above measuring data, and are applied to correct the error accumulated by a dead-reckoning system. The results using our proto-type experimental system and the simulation results are shown with some discussions about the feasibility of real system using this method.

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