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- Publisher Website: 10.1109/IROS.2014.6943044
- Scopus: eid_2-s2.0-84911488813
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Conference Paper: Pose estimation of servo-brake-controlled caster units arbitrarily located on a mobile base
Title | Pose estimation of servo-brake-controlled caster units arbitrarily located on a mobile base |
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Authors | |
Issue Date | 2014 |
Citation | IEEE International Conference on Intelligent Robots and Systems, 2014, p. 3456-3462 How to Cite? |
Abstract | In this paper, we propose a method to estimate the geometrical relationships between servo-brake-controlled caster units arbitrarily located on a moving base. The method utilizes only the velocity information of each caster unit and recursively estimates the pose of the caster units by the extended Kalman filter. In the state estimation problem, the estimation performance depends on the quality of the input signals. The input signals must contain sufficiently rich information to appropriately estimate the states. Since the system controlled by servo brakes is driven by a user-applied force, the user can arbitrarily select the input signals of velocity information. Therefore, we also suggest a simple pattern that enables users to provide sufficiently rich information for relationship estimates. Finally, the proposed method is validated in a computer simulation and an experiment using a mobile robot platform equipped with double-wheel caster units. |
Persistent Identifier | http://hdl.handle.net/10722/302921 |
ISSN | 2023 SCImago Journal Rankings: 1.094 |
DC Field | Value | Language |
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dc.contributor.author | Saida, Masao | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:51Z | - |
dc.date.available | 2021-09-07T08:42:51Z | - |
dc.date.issued | 2014 | - |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2014, p. 3456-3462 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302921 | - |
dc.description.abstract | In this paper, we propose a method to estimate the geometrical relationships between servo-brake-controlled caster units arbitrarily located on a moving base. The method utilizes only the velocity information of each caster unit and recursively estimates the pose of the caster units by the extended Kalman filter. In the state estimation problem, the estimation performance depends on the quality of the input signals. The input signals must contain sufficiently rich information to appropriately estimate the states. Since the system controlled by servo brakes is driven by a user-applied force, the user can arbitrarily select the input signals of velocity information. Therefore, we also suggest a simple pattern that enables users to provide sufficiently rich information for relationship estimates. Finally, the proposed method is validated in a computer simulation and an experiment using a mobile robot platform equipped with double-wheel caster units. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
dc.title | Pose estimation of servo-brake-controlled caster units arbitrarily located on a mobile base | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2014.6943044 | - |
dc.identifier.scopus | eid_2-s2.0-84911488813 | - |
dc.identifier.spage | 3456 | - |
dc.identifier.epage | 3462 | - |
dc.identifier.eissn | 2153-0866 | - |