2A1-O13 下水道管路網地図作成システムの開発(移動ロボットの自己位置推定と地図構築)

概要

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We have working on automated pipe inspection system using a mobile robot for sewer pipe named KANTARO, which has four horizontally attached wheels with spring connections. One of important issues for pipe inspection is localization and mapping of pipes. As the sensors of localization, passive arms with an encoder on tip and potentiometer of arm are mounted to each side of the developed mobile robot platform. The angles of the left and right arms and rotation velocity of wheel on tip are used for classification of surroundings, e.g., straight pipe, curve, junction. Consequently, the arm wheel is used for measuring the robot traveling distance inside of the straight pipe. In this paper, experiment that comparing between simulation data and real data is shown for validating of passive arms.
2011-05-26