抄録
Recently, the research to aim at an autonomous movement of UGV under the outdoor environment is actively done. In general, When UGV presume the self-position with an encoder which equipped the tire, value of self-position has error because of slipping of the tire. Therefore, The correction by GPS is often done. However, the error is included in GPS in the urban area lines with the bank building, and the self-position cannot be corrected even if used GPS together. Then, we proposed to correct this error by detecting the shoulder in the footway. We detected its shoulder with a laser and a camera.
