Plug and Play Type Ego-Motion Estimator of Mobile Robot for Flexible Sensor Selection and Installation(Mechanical Systems)
Naoki Suganuma, Yuichi HAYASHI · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2010
In this paper, for an ego-motion estimating problem of mobile robot, we propose plug and play type ego-motion estimator that user can freely select sensor type and flexibly install the sensor. In this algorithm, each sensor is dealt as a sensor unit that has computing equipment, and each sensor unit estimate ego-motion and the sensor parameter. Moreover, sensor units are connected via network, ego-motion estimate of each unit are exchanged each other. Then the exchanged information is fused by Covariance Intersection method, which is one of a decentralized estimator. By this, this algorithm can estimate ego-motion not affected by number of sensors and sensor type. Furthermore, user can flexibly install the sensors by this algorithm because sensor parameters are estimated in each unit and compensated information are exchanged each other. In addition to this high flexibility, an experimental results denotes that our method estimate ego-motion with adequate accuracy.