2A1-K06 俯瞰計測を用いた未知空間における車輪型移動ロボットの自律走行法(移動ロボットの自己位置推定と地図構築(1))

抄録

We have been developed an autonomous running method for a mobile robot with a SOKUIKI sensor by a laser which can be run on an outdoor road in uncertain 3-D world. In this paper, we propose a path-planning and an autonomous running method to direct this robot to goal at the shortest route using a made 2-D map by a bird's-eye measurement with the SOKUIKI sensor.