1A2-C24 MAV支援型知能移動ロボットの自律走行制御とSLAM

概要

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In this study group, we are developing a micro air vehicle (MAV), which is equipped with an automatic flight control system and a camera, for the purpose of performing rescue/relief tasks in natural disasters, security surveillance and observation tasks. MAV, however, has a limited performance due to its low payload or short duration of flight. On the other hand, unmanned ground vehicle (UGV) research and development is being pursued actively in Japan and overseas. Unlike MAV, UGV has a long continuous run time and a relatively bigger payload. It can carry many kind of equipment and play an important role in rescue. Therefore, we proposed a UGV that can assist the MAV, to make effective usage of our MAV in scenes. The UGV needs WayPoint and Mapping system. This paper shows Mapping using SLAM and WayPoint of UGV.