Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
We use an acceleration sensor with Particle Filter on Episode (PFoE), which is a teach-and-replay method for mobile robots. The PFoE which uses an acceleration sensor is more robust to the noise of motion and sensor information than the PFoE only using distance sensors. With an acceleration sensor, PFoE extends its ability to follow the behavior on the replay phase. Unlike the distance sensors, the acceleration sensor information is available while the robot is acting and it does not become saturated easily. The robot’s behaviors with/without acceleration sensor are compared by a task with an actual robot.
