ARマーカを用いた移動ロボットの位置推定

抄録

This paper describes a method for estimating the position of a transfer robot using AR markers and an algorithm for moving the robot to a specified position. In particular, we aim to improve the accuracy of the stop position of a robot moved using SLAM. We proposed a robot position estimation method and an algorithm for moving to the target position based on it, and carried out an experiment using the experimental omnidirectional rover to confirm the positioning accuracy. As a result of the experiment, it was within 3 centimeters in the direction perpendicular to the marker and about 10 centimeters in the parallel direction with respect to the target point 1 meter away from the marker.