2P1-C30 二次元レーザースキャナーを用いた高速移動体の自己位置推定と環境地図の構築

• 河原 豊和

  東北大

• 大野 和則

  東北大

• 田所 諭

  東北大

書誌事項

タイトル別名

• 2P1-C30 Localization and Mapping for Fast Mobile Robots with 2D Laser Range Finder

抄録

Our research objective is localization and mapping for rescue crawler robot in unknown environment. The problem is well known as SLAM problem. For solving the problem, the robot position and environment shape are measured by odometry and LRF respectively. Odometry's error is corrected by matching these shape data. Map is constructed from these shapes and the modified robot position. However, odometry can not be used for measurement of our crawler robot's position because the crawler has crawlers and wheels as locomotion. In this paper, the authors present our approach for measurement of its position and construction of the map. Concretely, the authors measure its position by matching 2D scan data measured at different points. Moreover, we correct the scan's distortion caused by robot movement.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2006 (0), _2P1-C30_1-_2P1-C30_3, 2006

  一般社団法人 日本機械学会

キーワード

• Crawler
• SLAM
• High Speed Matching
• Distortion Correction

詳細情報

• CRID: 1390001205936107776
• NII論文ID: 110008694188
• DOI: 10.1299/jsmermd.2006._2p1-c30_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2006/0/2006__2P1-C30_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可