Abstract
We aim at development of a search robot in confined space. The authors are developing Kenaf that is 6D0F tracked vehicle with flippers for the purpose. One of main tasks for Kenaf is an accurate 3D map construction in the confined space. In this paper, the authors will explain our approach for the 3D map construction, and will show the experimental result in Sendai Subway, Dec. 2007. For the 3D map construction in Sendai Subway, we needed to satisfy followings three requirements: 1. small size crawler robot that can get over steps, 2. small-size 3D scanner that can measure uniform and wide area's shape, 3. ad-hoc networks that can cover wide area. We satisfied these three requirements using Kenaf, TK Scanner and Wireless LAN respectively. Contribution of this paper is that we used our proposed method in the real environment and built a 3D map of Sendai Subway.
