Abstract
The maintenance and management of mountain forest needs special knowledge and skill, and contains various dangerous tasks. Thus, the shortage of workers and aging of manager cause the problem of increasing unmanaged forests. In this research, we are developing "Teleoperated mountain forest maintenance robot system", which assist human work semi-autonomously. In this paper, we will develop a experimental mobile base, and discuss localization and mapping problem using surrounding trees as the landmarks. The experimental results illustrate the validity of the proposed method.
