2A1-K03 浮上移動ロボットの自己位置推定と移動制御(特殊移動ロボット・メカトロニクス)

概要

論文の詳細を見る
ACV(Air Cushion Vehicle)that can move without touching the land is effective as a mode of transportation in the place where unleveled land and transport link that is divided into parts due to the disaster. However, ACV is hardly used at present because a skilled control technique is necessary. Therefore, we can use ACV effectively for transportation system in the stricken area and unleveled land. It is necessary to get localization in real time so that ACV can autonomously move. In this research, it aims at an autonomous movement of ACV and an using visual odometry as localization. Visual odometry is suitable for the localization of ACV because Visual odometry should not maintain the infrastructure. In this paper, We developed the ACV which moves autonomously and confirmed the movement in the experiment.
一般社団法人日本機械学会の論文
2007-05-11