Conceptual Framework to Maintain Multiple and Floating Relationship among Coordinate Reference Systems for Robotics

摘要

A new conceptual framework of management of coordinate reference systems (CRS) for robotics is proposed. Management of CRS should be more flexible in robotics than one for traditional GIS (geographical information systems). In general, all CRS used in GIS (geographical information systems) is grounded to a certain global CRS. On the other hand, there are several cases where it is difficult to ground and fix the CRS in robotics area. Therefore, the robot need to have its own CRS, which may not be grounded to another stable CRS. In order to provide a solution to the issue, In the proposal, we propose a new framework of CRS and transformations, we handle a (user-defined) CRS as an atomic concept, which can be defined independently with other CRS. Then relations between two CRS are defined afterword. Therefore, it is possible to have a CRS that has no relation to the global CRS. Moreover, it is also possible to define multiple relation between two CRS. These flexibility enables to bridge GIS and robotic systems for real applications.