2P1-C17 不整地移動ロボット搭載用吊下げ型三次元距離センサユニットの開発

概要

論文の詳細を見る
For disaster mitigation, getting environmental information of earthquakes and volcanic eruptions is very important. However, it is very dangerous for people to go into such dangerous places. Therefore it is expected to use mobile robots for search tasks in such an environment instead of people. In such an environment, one of the important information is three dimensional (3D) map to understand situation and to navigate mobile robots. However, because of bumpy terrains, sensors fastened to robot's body are inclined, and the acquired data is tilted in this case. To solve such a problem, we developed "hanging 3D-laser-range-sensor unit". It consists of a 3-D range sensor (a 2-D laser range sensor attached to a rotational stage) and hangging mechanism for compensation of robot's incline. In this paper, we explain details of our developed sensor unit and introduce results of sensing experiment in real environment.
一般社団法人日本機械学会の論文