1P1-J04 Navigation of Car-like Robot by Path-generating Regulator : Tracking to Thermo-landmark(Wheeled Robot/Tracked Vehicle)
Yasutaka TARUUMI, Naohiko HANAJIMA, Akihiko Takashima, Kazuma TAKEDA, Hiromitsu Hikita, Mitsuhisa YAMASHITA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
A path-generating regulator is a control method to converge a position and a posture of the vehicle to origin. The reference path to be drawn by the vehicle is chosen from a path function group. Originally it was proposed as the control method for two-wheeled mobile robots. Recently it has been extended to car-like robots, and its performance has been shown by simulations and experiments. However, in the experiment, the car-like robot occasionally stopped at a position away from the target position since the self-position of the vehicle was incorrectly estimated by dead-reckoning with an encoder. In this paper, we improve precision of the position estimation using a thermo-landmark.