二次元レーザレンジスキャナおよび鏡を用いた無人搬送車の正面および側面における走査の設計

抄録

In this study, a scanning method in the front and lateral sides of an automated guided vehicle (AGV) using a two-dimensional laser range scanner and mirrors was designed. In the scanning method, obstacles are scanned in the front and lateral sides. The scanning is by laser beams emitted from the scanner. In the front side, the laser beams are not reflected by the mirrors. In the lateral side, one laser beam is reflected by one mirror. The one laser beam is parallel to the lateral side of the AGV. In the scanning of the front and lateral sides, the laser reflecting point on the obstacle, and the scanning area were designed. The width of the mirror surface was designed. The positional relationship between the laser beam for scanning the front side, and the mirror surface was designed. The size of the AGV was designed. The positional relationship between the scanner and the mirror surface was designed.