1A2-D26 LRF搭載移動ロボットによる移動効率を考慮したビュープランニングを用いた3次元地図生成

概要

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When an autonomous mobile robot acts in constructed environments, a map which has the information about obstacles is necessary for the mobile robot. Even if the map is given, the mobile robot cannot start its action without the information of its present location on the map. Therefore, techniques of map generation and self-localization are important for mobile robots. In this paper, we propose a 3-D SLAM (Simultaneous Localization and Mapping) method using efficient view planning by a mobile robot equipped with two LRFs (Laser Range Finders). In the 3-D SLAM, the robot considers the most suitable position for 3-D mapping by efficient view planning, and then, measures distances to obstacles around it with LRFs at the positions. The 3-D map is generated by integrating range information obtained from multiple measurements. Experimental results show the effectiveness of the proposed method.
一般社団法人日本機械学会の論文