Cause Exploration of Accuracy Deterioration with Time Progress in Localization Using a Speckle Odometer

Sotaro Nakata, Isaku Nagai, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages826-831
Number of pages6
ISBN (Electronic)9781728164151
DOIs
Publication statusPublished - Oct 13 2020
Event17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 - Beijing, China
Duration: Oct 13 2020 → Oct 16 2020

Publication series

Name2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

Conference

Conference17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
CountryChina
CityBeijing
Period10/13/20 → 10/16/20

Keywords

  • Localization
  • NTC thermistor
  • Speckle odometer
  • Temperature change

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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