Mobile Body Self-Position Correction by Mutual Observation
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Solution Overview
Problem
Existing systems face errors in self-position estimation for mobile bodies, particularly when multiple mobile bodies operate together, and require external devices for position correction, which complicates the system configuration.
Innovation Solution
An information processing system where each mobile body is equipped with an information processing apparatus that estimates its own position, moves to a position observable by other mobile bodies, acquires correction information, and corrects its self-position based on relative positions provided by observing mobile bodies, allowing self-position correction without external devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If external devices are used to correct self-position of mobile bodies, then position accuracy is improved, but system complexity increases
Solution Approach 1:
Mobile bodies use each other as observation devices to correct self-positions. Each mobile body's observation device can detect other mobile bodies, and this mutual observation capability eliminates the need for separate external correction devices, achieving self-service position correction within the system
Solution Approach 2:
The observation devices on mobile bodies serve dual functions: their primary function for navigation and mapping, and a secondary function for observing other mobile bodies to provide position correction data. This multi-functionality reduces the need for dedicated correction equipment
2Productivity
If mobile bodies move to positions observable by other mobile bodies, then position correction efficiency is improved, but movement time increases
Solution Approach 1:
Instead of requiring complete mutual observation between all mobile bodies, the system performs position correction using partial observation data available from current configurations. Correction is performed to a sufficient degree rather than requiring optimal observation positions, reducing unnecessary movement
Solution Approach 2:
The system replaces physical movement to optimal observation positions with computational methods. Position correction is achieved by calculating relative positions from available observation data and applying mathematical corrections, substituting mechanical relocation with information processing
Data Source
AI summary
Provided is an information processing system that includes a first information processing apparatus that estimates a self-position of a first mobile body, and a second information processing apparatus that estimates a self-position of a second mobile body. The first information processing apparatus includes a movement control unit that performs control for moving, based on observation target information indicating a probability of the first mobile body being observed from the second mobile body, the first mobile body to a position where the second mobile body is capable of observing the first mobile body, an acquiring unit that acquires correction information capable of specifying relative positions of the first mobile body and the second mobile body from the second mobile body that has observed the first mobile body, and a correcting unit that corrects the self-position of the first mobile body based on the correction information.