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State estimation of mobile robot using GPS signal that includes reflected and diffracted waves
http://hdl.handle.net/10228/0002001514
http://hdl.handle.net/10228/00020015141d0ce091-0f88-4931-8db4-7f8ee5739724
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
10218406.pdf (550.7 KB)
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| Item type | 共通アイテムタイプ(1) | |||||||||||||||||
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| 公開日 | 2025-03-26 | |||||||||||||||||
| タイトル | ||||||||||||||||||
| タイトル | State estimation of mobile robot using GPS signal that includes reflected and diffracted waves | |||||||||||||||||
| 言語 | en | |||||||||||||||||
| 著者 |
西田, 健
× 西田, 健
× 井上, 創造
WEKO
27425
× 相良, 慎一
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| 著作権関連情報 | ||||||||||||||||||
| 言語 | ja | |||||||||||||||||
| 権利情報 | Copyright (c) ISAROB 2013. This is a post-peer-review, pre-copyedit version of an article published in Artificial Life and Robotics. The final authenticated version is available online at: https://doi.org/10.1007/s10015-013-0115-z. | |||||||||||||||||
| 抄録 | ||||||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||||||
| 内容記述 | We propose a method to improve the state estimation accuracy of mobile robots placed near high-rise buildings using the statistical property of the reflected and diffracted waves of global positioning system (GPS) signals. First, it is assumed that a GPS signal that contains a reflected and diffracted wave is denoted by the sum of the true position information and noise that follows a time-varying Gaussian distribution. On the basis of this assumption, the time-varying bias of a GPS signal is tracked using a Kalman filter. In addition, a particle filter, which executes sampling and likelihood evaluation using the estimated bias, is developed. With the proposed method, a GPS signal that contains the rejected noise introduced by the conventional method can be used efficiently, and the state estimation accuracy of the robot in a shadow area of GPS satellite can be improved. Furthermore, a control system for an autonomous mobile robot incorporating the proposed state estimation mechanism is developed, and its effectiveness is evaluated via simulation. | |||||||||||||||||
| 言語 | en | |||||||||||||||||
| 書誌情報 |
en : Artificial Life and Robotics 巻 18, 号 3, p. 178-186, 発行日 2013-10-22 |
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| 出版社 | ||||||||||||||||||
| 出版者 | Springer | |||||||||||||||||
| キーワード | ||||||||||||||||||
| 言語 | en | |||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||
| 主題 | GPS | |||||||||||||||||
| キーワード | ||||||||||||||||||
| 言語 | en | |||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||
| 主題 | Reflected and diffracted waves | |||||||||||||||||
| キーワード | ||||||||||||||||||
| 言語 | en | |||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||
| 主題 | Particle filter | |||||||||||||||||
| キーワード | ||||||||||||||||||
| 言語 | en | |||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||
| 主題 | Vehicle control | |||||||||||||||||
| 言語 | ||||||||||||||||||
| 言語 | eng | |||||||||||||||||
| 資源タイプ | ||||||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||||||
| 資源タイプ | journal article | |||||||||||||||||
| 出版タイプ | ||||||||||||||||||
| 出版タイプ | AM | |||||||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||||||||
| DOI | ||||||||||||||||||
| 識別子タイプ | DOI | |||||||||||||||||
| 関連識別子 | https://doi.org/10.1007/s10015-013-0115-z | |||||||||||||||||
| NCID | ||||||||||||||||||
| 収録物識別子タイプ | NCID | |||||||||||||||||
| 収録物識別子 | AA11239104 | |||||||||||||||||
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| 収録物識別子タイプ | PISSN | |||||||||||||||||
| 収録物識別子 | 1433-5298 | |||||||||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||||||||
| 収録物識別子 | 1614-7456 | |||||||||||||||||
| 査読の有無 | ||||||||||||||||||
| 値 | yes | |||||||||||||||||
| 研究者情報 | ||||||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/140_ja.html | |||||||||||||||||
| 論文ID（連携） | ||||||||||||||||||
| 値 | 10218406 | |||||||||||||||||
| 連携ID | ||||||||||||||||||
| 値 | 9459 | |||||||||||||||||
