GPSと方位センサを利用したロボットの誘導―OKINAWA型砂浜清掃ロボットに向けて―

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2015/02/01

タイトル(英語): The Guidance of a Robot Using GPS and a Direction Sensor―Toward an OKINAWA-type Beach-cleaning Robot―

著者名: タンスリヤボン　スリヨン（沖縄工業高等専門学校），喜納　希美（豊橋技術科学大学情報・知能工学系），姉崎　隆（沖縄工業高等専門学校）

著者名(英語): Tansuriyavong Suriyon (Okinawa National College of Technology), Nozomi Kina (Department of Knowledge-based Information Engineering, Toyohashi University of Technology), Takashi Anezaki (Okinawa National College of Technology)

キーワード: GPS，方位センサ，形状ベースパターンマッチング，画像認識　　GPS，direction sensor，shape-based pattern matching，image recognizing

要約(英語): Sandy beaches of Okinawa are an important resource for the tourism industry. There is a need for constant cleaning to keep the white sandy beach clean. However, time and effort is required for cleaning. To solve this problem, in this paper, we propose an OKINAWA-type beach-cleaning robot using GPS and a direction sensor. Generally, GPS is a very common method to estimate a robot's location in an outdoor environment. However, when the robot is at a standstill or moving slowly, the error in the direction detection using only GPS is relatively large. To compensate for this, we decided to use GPS combined with a direction sensor in order to reduce the direction errors. A performance evaluation using a prototype of the proposed robot is described in this paper.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.2 （2015） 特集：Okinawa型ロボット組み込み/サスティナブルシステム

本誌掲載ページ: 119-124 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/135/2/135_119/_article/-char/ja/