閉鎖空間におけるUWBを搭載した移動ロボットによる協調自己位置推定手法

抄録

In order to collect information in a disaster-stricken closed space, it is necessary to be able to remotely control a mobile robot without losing its position in the event of environmental changes such as collapsed objects. Indoor positioning methods include odometry and SLAM. Odometry position estimation has the problem that errors accumulate due to the movement of the mobile robot over obstacles scattered after the disaster. SLAM also requires more information to be collected by sensors when obstacles are scattered, and more computation time is needed for object detection. As a result, it is difficult for SLAM to cope with environmental changes. In the closed space where conventional position estimation is difficult as described above, we propose a position estimation method for mobile robots using Ultra Wide Band.