2B2-2 環境地図構築とその遠隔操作利用(2B2 OS:レスキューロボットによる環境地図構築2)

概要

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In robot teleoperation there is a mounted camera on a robot and the operation is usually performed from a remote site using captured images by the mounted camera. Although high mobility of a mobile robot is indispensable for rescue robots in actual disaster sites, it is hard to make full use of the mobility of the robot by ordinary teleoperation methods since the situation of the robot and its surroundings are vaguely known only from the camera information. Mapping function is one of the necessary functions for a rescue robot. This function can be used not only for providing environment information for human rescuers but also for robot teleoperation to improve its controllability. In this paper a laser rangefinder is used as a main sensor to measure environment contour information and three technologies such as an interactive 2D environment contour mapping, environment contour interface and synthesized seen recollection method which have implemented to improve remote robot controllability are presented.
社団法人日本機械学会の論文
2006-09-25