書誌事項
- タイトル別名
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- 3301 Robust Self-Localization of Infrastructure-Free Automated Guided Vehicles in an Environment Including Multiple Vehicles
抄録
We proposed a robust method for self-localization of infrastructure-free automated guided vehicles (AGVs) using laser range finders (LRFs) in environments that include multiple vehicles. In those environments, occlusion of a LRF is caused by other vehicles, and false localization occurs with a conventional method. To solve this problem, our proposed method was divided into two stages. In first stage, to distinguish other vehicles' sides from walls, an AGV detects other vehicles with retroreflective materials from environments' shapes and reflection intensities measured by only a LRF. In second stage, to complement information for self-localization, an AGV integrates measurement results of a LRF and information of wheel rotation using Kalman Filter. Our method has an advantage that it doesn't need any additional infrastructures or electronic devices.
収録刊行物
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- 交通・物流部門大会講演論文集
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交通・物流部門大会講演論文集 2010.19 (0), 313-316, 2010
一般社団法人 日本機械学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390001205902593408
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- NII論文ID
- 110008742623
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- ISSN
- 24243175
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可