1P1-K02 時間拡張2Dグリッドマップを用いた小型自律移動クローラシステムの開発(車輪型/クローラ型移動ロボット)

概要

論文の詳細を見る
This paper describes a development of a small autonomous mobile crawler system using a temporal expansive two-dimensional grid map for the purpose of exploring the disaster site. The environmental map generated from the laser scanner and gyroscope is unsuitable for the actual environment because of the use of low-precision sensors. Therefore we propose the temporal expansion two-dimensional grid map to differentiate the overlapping of the grid map by time-tagging measurements of a laser scanner. As a result of the actual environment test, it can be concluded that the proposed crawler system can estimate the accurate location to differentiate the overlapping using the proposed temporal expansive two-dimensional grid map.
一般社団法人日本機械学会の論文
2011-05-26