サトウ　フミアキ   Sato Fumiaki   佐藤　文明    所属   東邦大学  理学部 情報科学科    職種   教授
言語種別	英語
発表タイトル	Improvement of Self Position Estimation of Electric Wheelchair Combining Multiple Positioning Methods
会議名	The 33rd International Conference on Advanced Information Networking and Applications (AINA-2019)
学会区分	国際学会
発表形式	口頭
講演区分	一般
発表者・共同発表者	◎Fumiaki Sato
発表年月日	2019/03/29
開催地 （都市, 国名）	Kunibiki Messe (Matsue, Japan)
概要	In the self-driving system of the electric wheelchair, it is necessary to estimate the self-position of the wheelchair, identify the travelable area, and determine the traveling route. For indoor self-position estimation, location can be estimated by wireless LAN or beacon. However, for autonomous driving, more accurate position estimation is required. Conventionally, we have used AR (Augmented Reality) markers with high positioning accuracy as a method of self-position estimation of a wheelchair in a relatively narrow space. However, the positioning error of the angle when the AR marker was recognized from frontal direction was large, and its improvement was a problem. In this research, we propose a method to correct positioning error of markers by self-position estimation using wheelchair odometry information. Since AR marker and odometry information each have an error, the method of giving the correction is synthesized at a rate corresponding to the variance of each value. As a result of preliminary experiments, we showed that by using odometry for correction, positioning error is improved and wheelchair control can be done stably.