IEICE TRANSACTIONS on Fundamentals
Optimal Movement for SLAM by Hopping Rover
Summary :
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.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E106-A No.5 pp.715-720
- Publication Date
- 2023/05/01
- Publicized
- 2022/10/24
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.2022MAP0005
- Type of Manuscript
- Special Section PAPER (Special Section on Mathematical Systems Science and its Applications)
- Category
Authors
Shuntaro TAKEKUMA
Nagoya University
Shun-ichi AZUMA
Kyoto University
Ryo ARIIZUMI
Nagoya University
Toru ASAI
Nagoya University
Keyword
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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
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@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},}
Copy
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 -
English
