2A1-O02 DP-SLAMを用いた実時間自己位置推定と制御に関する研究(移動ロボットの自己位置推定と地図構築)

概要

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In this study group, Micro Air Vehicle (MAV) equipped with an automatic flight control system and a camera is developed for the purpose of performing rescue/relief tasks, security surveillance and observation tasks. However, MAV has a limited performance due to its low payload and short flight duration. 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, a UGV that can assist the MAV is proposed to effectively use the MAV. Further more, equipped with DP-SLAM, the UGV can do real-time localization and mapping.
2011-05-26