1P1-E01 移動物体検知のための高速三次元距離情報取得システムの構築

抄録

In real dynamic environments, it has a big advantage for intelligent motions of service robots to recognize its surrounding 3D environment. Furthermore, detection of moving objects is additional important technology for improvement of robots' motion. Therefore, our research objective is set as a detection of moving objects based on 3D LIDAR (Light Detection And Ranging). Typically, 3D LIDAR scanning obtains very accurate environment data, however it takes a time. Therefore, in this research, we developed a high-frequency 3D LIDAR that has a function of variable rotational speed control. In the LIDAR system, the core sensor is Sokuiki sensor produced by HOKUYO AUTOMATIC CO. LTD., and it is rotated up to 3 rps on the rotational table. Using this sensor, moving object can be recognized by the calculus of difference between two adjacent 3D environment data, sequentially. Experimental results verified a validity of our approach in simple environments. In this paper, we explain our development of high-frequency 3D LIDAR, detection method of moving obstacles, and report experimental results of recognition about moving objects.