The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Rover melompat ialah robot yang boleh bergerak di planet bergraviti rendah dengan gerakan ciri yang dipanggil melompat gerakan. Untuk penerokaan autonominya, apa yang dipanggil SLAM (Petempatan dan Pemetaan Serentak) adalah fungsi asas. SLAM ialah gabungan menganggarkan kedudukan robot dan mencipta peta persekitaran yang tidak diketahui. Kebanyakan kaedah konvensional SLAM adalah berdasarkan odometri untuk menganggarkan kedudukan robot. Walau bagaimanapun, dalam kes hopping rover, ralat odometri menjadi sangat besar kerana gerakan melompatnya melibatkan lantunan yang tidak dapat diramalkan di atas tanah yang kasar di planet yang belum diterokai. Didorong oleh perbincangan di atas, kertas kerja ini menangani masalah mencari pergerakan optimum hopping rover untuk anggaran prestasi SLAM. Untuk masalah ini, kami mula-mula menetapkan model sistem SLAM untuk rover hopping. Masalahnya dirumuskan sebagai meminimumkan jangkaan ralat anggaran pada masa yang telah ditetapkan berkenaan dengan jujukan input kawalan. Kami menunjukkan bahawa jujukan input optimum cenderung memaksa kedudukan akhir untuk tidak berada di mercu tanda tetapi di hadapan mercu tanda, dan tambahan pula, jujukan input optimum adalah malar pada selang masa untuk pengoptimuman.
Shuntaro TAKEKUMA
Nagoya University
Shun-ichi AZUMA
Kyoto University
Ryo ARIIZUMI
Nagoya University
Toru ASAI
Nagoya University
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Salinan
Shuntaro TAKEKUMA, Shun-ichi AZUMA, Ryo ARIIZUMI, Toru ASAI, "Optimal Movement for SLAM by Hopping Rover" in IEICE TRANSACTIONS on Fundamentals,
vol. E106-A, no. 5, pp. 715-720, May 2023, doi: 10.1587/transfun.2022MAP0005.
Abstract: A hopping rover is a robot that can move in low gravity planets by the characteristic motion called the hopping motion. For its autonomous explorations, the so-called SLAM (Simultaneous Localization and Mapping) is a basic function. SLAM is the combination of estimating the position of a robot and creating a map of an unknown environment. Most conventional methods of SLAM are based on odometry to estimate the position of the robot. However, in the case of the hopping rover, the error of odometry becomes considerably large because its hopping motion involves unpredictable bounce on the rough ground on an unexplored planet. Motivated by the above discussion, this paper addresses a problem of finding an optimal movement of the hopping rover for the estimation performance of the SLAM. For the problem, we first set the model of the SLAM system for the hopping rover. The problem is formulated as minimizing the expectation of the estimation error at a pre-specified time with respect to the sequence of control inputs. We show that the optimal input sequence tends to force the final position to be not at the landmark but in front of the landmark, and furthermore, the optimal input sequence is constant on the time interval for optimization.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.2022MAP0005/_p
Salinan
@ARTICLE{e106-a_5_715,
author={Shuntaro TAKEKUMA, Shun-ichi AZUMA, Ryo ARIIZUMI, Toru ASAI, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Optimal Movement for SLAM by Hopping Rover},
year={2023},
volume={E106-A},
number={5},
pages={715-720},
abstract={A hopping rover is a robot that can move in low gravity planets by the characteristic motion called the hopping motion. For its autonomous explorations, the so-called SLAM (Simultaneous Localization and Mapping) is a basic function. SLAM is the combination of estimating the position of a robot and creating a map of an unknown environment. Most conventional methods of SLAM are based on odometry to estimate the position of the robot. However, in the case of the hopping rover, the error of odometry becomes considerably large because its hopping motion involves unpredictable bounce on the rough ground on an unexplored planet. Motivated by the above discussion, this paper addresses a problem of finding an optimal movement of the hopping rover for the estimation performance of the SLAM. For the problem, we first set the model of the SLAM system for the hopping rover. The problem is formulated as minimizing the expectation of the estimation error at a pre-specified time with respect to the sequence of control inputs. We show that the optimal input sequence tends to force the final position to be not at the landmark but in front of the landmark, and furthermore, the optimal input sequence is constant on the time interval for optimization.},
keywords={},
doi={10.1587/transfun.2022MAP0005},
ISSN={1745-1337},
month={May},}
Salinan
TY - JOUR
TI - Optimal Movement for SLAM by Hopping Rover
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 715
EP - 720
AU - Shuntaro TAKEKUMA
AU - Shun-ichi AZUMA
AU - Ryo ARIIZUMI
AU - Toru ASAI
PY - 2023
DO - 10.1587/transfun.2022MAP0005
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E106-A
IS - 5
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - May 2023
AB - A hopping rover is a robot that can move in low gravity planets by the characteristic motion called the hopping motion. For its autonomous explorations, the so-called SLAM (Simultaneous Localization and Mapping) is a basic function. SLAM is the combination of estimating the position of a robot and creating a map of an unknown environment. Most conventional methods of SLAM are based on odometry to estimate the position of the robot. However, in the case of the hopping rover, the error of odometry becomes considerably large because its hopping motion involves unpredictable bounce on the rough ground on an unexplored planet. Motivated by the above discussion, this paper addresses a problem of finding an optimal movement of the hopping rover for the estimation performance of the SLAM. For the problem, we first set the model of the SLAM system for the hopping rover. The problem is formulated as minimizing the expectation of the estimation error at a pre-specified time with respect to the sequence of control inputs. We show that the optimal input sequence tends to force the final position to be not at the landmark but in front of the landmark, and furthermore, the optimal input sequence is constant on the time interval for optimization.
ER -