2022 Fiscal Year Final Research Report
Low-reliability spatial avoidance navigation for positioning systems using UWB communications
| Project/Area Number |
20K04379
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Kyoto Institute of Technology |
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Principal Investigator |
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | Ultra-Wide Band / 超広帯域無線 / ナビゲーション / 測位 / マルチラテレーション / DOP |
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| Outline of Final Research Achievements |
One of the positioning methods for robot navigation in environments where GPS cannot be used indoors is using Ultra-Wide Band (UWB) communication. In this method, when the radio wave strength received by the moving robot becomes weak, communication becomes unstable, and the positioning accuracy may also decrease depending on the geometric relationship with the ground stations placed around the robot.
The purpose of this study was to quantitatively evaluate the estimation accuracy based on the geometric relationship with the ground station by calculating the received radio wave strength of the robot when using UWB communication based on the ray tracing method. Using a map showing their distribution, it was demonstrated that a path passing only through the space with high reliability of position estimation accuracy could be generated by the A* algorithm.
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| Free Research Field |
ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
これまでの屋内での電波測位では，電波の受信強度が低いエリアや測位精度が低下するエリアを減らすために，地上局を多数設置することで冗長性を確保し，死角を減らすことが行われている．本研究の成果により任意位置での測位信頼性を評価できるようになった．また，この指標に基づき必要最低限の地上局による最適配置も導くことができるため，社会実装時の導入コストや運用コストの低減にもつながるといえる．
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