単一基準点レーザ追尾による移動体の位置・姿勢計測 (第2報)

計測方法と基礎実験

抄録

The position measurement methods for navigation of robotic vehicles have been proposed by emitting various laser beams into various fixed retroreflectors. We have developed a measurement system that detect the position and heading of vehicle by emitting only one laser beam into a double corner-cube retroreflector. When we set the double corner-cube retroreflector on a standard point to form a reference axis in a job site and emitting a laser beam captures the double corner-cube retroreflector, the position and heading of vehicle can be determined based on the direction of the beam and the angle between the beam and reference axis. In this paper, the algorithm of this new measurement method is introduced and the measurement precision is examined.