日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
論文
汎用三次元環境地図を用いた移動ロボットナビゲーションのための地図生成
荒木 天外竹村 憲太郎怡土 順一松本 吉央高松 淳小笠原 司
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ジャーナル フリー

28 巻 (2010) 1 号 p. 106-111

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In this research, a Universal map, which can be converted to individual maps for heterogeneous mobile robots, is proposed. A Universal map can be generated using our developed measurement robot, and it is composed of a textured 3D environment model. Therefore, every robot can use a Universal map as a common map, and it is utilized for various localization technologies such as view-based and LRF-based methods. In LRF-based localization, accurate localization is achieved using a specific map, which is generated from a Universal map. In a view-based approach, localization and navigation are achieved using rendered images. The use of a Universal map enables generation of these maps automatically. The effectiveness of this approach is confirmed through experiments.

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© 2010 日本ロボット学会
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