2B1-3 探査クローラーロボットAli-Babaによる三次元地図構築(2B1 OS:レスキューロボットによる環境地図構築1)

概要

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Our research objective is 3D map construction by a teleoperated crawler robot "Ali-Baba". 3D map construction requires correct estimation of robot's position and posture. However, as "Ali-Baba" is a crawler robot, it is hard to estimate robot's position and posture based on motion model and inner sensor. Besides, "Ali-Baba" has a crawler with wheel and changes driving mode (crawler or wheel) according to environments, which makes more difficult to estimate robot's position and posture based on motion model and inner sensor. The authors proposed a method for position estimation and map construction based on environment shape matching. Robot's position could be estimated by the proposed method switching two models according to the driving mode.
2006-09-25