TY - GEN
T1 - Cause Exploration of Accuracy Deterioration with Time Progress in Localization Using a Speckle Odometer
AU - Nakata, Sotaro
AU - Nagai, Isaku
AU - Watanabe, Keigo
N1 - Publisher Copyright:
© 2020 IEEE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/10/13
Y1 - 2020/10/13
N2 - A speckle odometer has been developed for estimating the self-position of a mobile robot. However, the speckle odometer suffers from the accuracy deterioration of measured values when it is used for a long time. One of the causes for this deterioration is known to be the temperature change in the odometer, but it is unclear which part of the device is responsible for such a change. The objective of this research is to investigate the relationship between the temperature and the measurement error and to reduce the distance measurement error by providing a temperature compensation. Therefore, a device using an NTC thermistor as a temperature sensor is manufactured in this research to measure the temperature of the speckle odometer. Furthermore, such a device is added to the speckle odometer to record the temperature changes during the travel measurement. From the recorded data, the relationship between the temperature and the measurement error is examined, and the places that affected the errors in the measured travel are clarified.
AB - A speckle odometer has been developed for estimating the self-position of a mobile robot. However, the speckle odometer suffers from the accuracy deterioration of measured values when it is used for a long time. One of the causes for this deterioration is known to be the temperature change in the odometer, but it is unclear which part of the device is responsible for such a change. The objective of this research is to investigate the relationship between the temperature and the measurement error and to reduce the distance measurement error by providing a temperature compensation. Therefore, a device using an NTC thermistor as a temperature sensor is manufactured in this research to measure the temperature of the speckle odometer. Furthermore, such a device is added to the speckle odometer to record the temperature changes during the travel measurement. From the recorded data, the relationship between the temperature and the measurement error is examined, and the places that affected the errors in the measured travel are clarified.
KW - Localization
KW - NTC thermistor
KW - Speckle odometer
KW - Temperature change
UR - http://www.scopus.com/inward/record.url?scp=85096587530&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85096587530&partnerID=8YFLogxK
U2 - 10.1109/ICMA49215.2020.9233580
DO - 10.1109/ICMA49215.2020.9233580
M3 - Conference contribution
AN - SCOPUS:85096587530
T3 - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
SP - 826
EP - 831
BT - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Y2 - 13 October 2020 through 16 October 2020
ER -