自律移動ロボットのための巾木の認識による自己位置推定

概要

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Path planning is necessary for an autonomous moving robot to achieve an effective indoor moving and this planning is conducted following the map of moving environment. To develop those maps, robot localization is very important. In this study, robot localization area is extended without depending on the natural features of the environment as conventional approaches. Here, the door positions in the environment are used as landmarks and robot position is measured according to them. The door positions and baseboards in a wall align on a straight line, therefore, long distance landmark positions can be detected following baseboards. These baseboards are detected by an on-robot camera and walls are also detected following them. On the other hand, an on-robot LRF measures the distance between walls and robot. In this paper, the measuring distance of LRF is extended by combining the detected baseboards by the camera. With this extension, long distance landmark detection can be conducted, as a result robot localization area could be extended. Experiments were conducted by operating a robot to confirm the door position detection, and then robot localization area extension was confirmed.
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