1A2-C09 屋外環境下で用いる自律移動システムに関する研究 : 第52報環境の三次元地図情報を用いた車両の運転支援に関する研究

概要

論文の詳細を見る
This paper proposes a novel tele-operation system for the UGV (Unmanned Ground Vehicle) in the outdoor environment. The unique remote control interface using 3D environmental map measured by MMS (Mobile Mapping System) is addressed. The driver can control the vehicle by looking at a virtual vehicle model on the pre-obtained environmental map. In addition, the obstacle information measured by a laser scanner and a stereo camera is also displayed on the map. It is easy to grasp the whole environment around the vehicle and is effective to control the vehicle with safety and speedy. From result of the remote control experiment, this system is proved to be valid and effective to find the obstacles compared with the usual on-board camera image.
一般社団法人日本機械学会の論文
2009-05-25