2P1-G04 CPS SLAMの研究 : 第2報 CPSとレーザ計測による屋内3次元地図の自動構築実験(Localization and Mapping)

概要

論文の詳細を見る
Accurate positioning of a mobile robot and accurate and reliable measurements of surroundings are indispensable for an automated construction of an environment map using a mobile robot. However, the accuracy of conventional positioning methods such as dead reckoning or the use of several landmarks is not high in an unknown and rough environment. To overcome this problem, we have proposed a method named "Cooperative Positioning System (CPS)" , which enables to localize robots with high accuracy even in an unknown and rough environment. This paper proposes the combined system of the CPS and a laser range finder to construct highly reliable environment map. The fifth CPS model named CPS-V and experimental results in a large scaled and unknown environment are introduced.
一般社団法人日本機械学会の論文
2007-05-11