TY - GEN
T1 - Quasi-Zenith Satellite System-based Tour Guide Robot at a Theme Park
AU - Matsumoto, Kohei
AU - Yamada, Hiroyuki
AU - Imai, Masato
AU - Kawamura, Akihiro
AU - Kawauchi, Yasuhiro
AU - Nakamura, Tamaki
AU - Kurazume, Ryo
PY - 2020/1
Y1 - 2020/1
N2 - For autonomous service robots used in our daily environment, such as a personal mobility vehicles or delivery robots, localization is one of the most important and fundamental functions. A number of localization techniques, including simultaneous localization and mapping, have been proposed. Although a Global Navigation Satellite System (GNSS) is most commonly used in outdoor environments, its accuracy is around 10 meters and so is inadequate for navigation of an autonomous service robot. Therefore, a GNSS is usually used together with other localization techniques, such as map matching or camera-based localization. In the present study, we adopt the Quasi-Zenith Satellite System (QZSS), which became available in and around Japan on November 2018, for the localization of an autonomous service robot. The QZSS provides high-accuracy position information using electronic reference points and four quasi-zenith satellites, and has a localization error of less than 10 centimeters. In the present paper, we compare the positioning performance of the QZSS and real-time kinematic GPS, and verify the stability and the accuracy of the QZSS in an outdoor environment. In addition, we introduce a tour guide robot system using the QZSS and present the results of a guided tour experiment in a theme park.
AB - For autonomous service robots used in our daily environment, such as a personal mobility vehicles or delivery robots, localization is one of the most important and fundamental functions. A number of localization techniques, including simultaneous localization and mapping, have been proposed. Although a Global Navigation Satellite System (GNSS) is most commonly used in outdoor environments, its accuracy is around 10 meters and so is inadequate for navigation of an autonomous service robot. Therefore, a GNSS is usually used together with other localization techniques, such as map matching or camera-based localization. In the present study, we adopt the Quasi-Zenith Satellite System (QZSS), which became available in and around Japan on November 2018, for the localization of an autonomous service robot. The QZSS provides high-accuracy position information using electronic reference points and four quasi-zenith satellites, and has a localization error of less than 10 centimeters. In the present paper, we compare the positioning performance of the QZSS and real-time kinematic GPS, and verify the stability and the accuracy of the QZSS in an outdoor environment. In addition, we introduce a tour guide robot system using the QZSS and present the results of a guided tour experiment in a theme park.
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U2 - 10.1109/SII46433.2020.9025964
DO - 10.1109/SII46433.2020.9025964
M3 - Conference contribution
T3 - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
SP - 1212
EP - 1217
BT - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/SICE International Symposium on System Integration, SII 2020
Y2 - 12 January 2020 through 15 January 2020
ER -