1A1-T04 Improvement of environment recognition performance for mountain forest maintenance robot based on LRF data(Mobile Manipulation Robot)

Abstract

The maintenance and management of mountain forest needs special knowledge and skill, and contains various dangerous tasks. Thus, the shortage of workers causes 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 discuss and propose a performance improvement method in recognizing process of the surrounding objects in the mountain forest environment. The proposed method is based on the data integration of the distance and the received light intensity which are obtained by LRF(Laser Range Finder). The experimental results illustrate the validity of the proposed method.