1A1-D20 昇降可能な測域センサによる不整地移動ロボットの3次元環境計測

概要

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This paper presents a method for measuring 3D environment by a tracked vehicle using a laser range finder (LRF) with an arm-type liftable unit. The LRF is installed at the end of the arm. The unit enables the sensor to change position and to face at a right angle to a variety of configuration. Therefore, the sensing system can measure a 3D configuration such as an upward or downward slope more accurately than conventional 3D sensing system with the LRF, which have generally used a rotating mechanism. In addition, this system can uniform scanning density and avoid the problem on accumulation point in conventional system. In this study, we have designed and fabricated a prototype system of the liftable LRF unit and mounted it on a tracked vehicle with two crawlers that we have developed. The basic 3D sensing in this system was confirmed from two primal experiments for measuring simple environment and stair configuration.
一般社団法人日本機械学会の論文
2009-05-25