ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A2-Q06
会議情報
2A2-Q06 自律移動ロボットの為の評価統合による走行可能領域検出(移動ロボットの自己位置推定と地図構築)
藤野 雄介黒田 洋司
著者情報
会議録・要旨集 フリー

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抄録
In this paper, we propose a method for travelable area detection using a 3DLIDAR. In order for the autonomous mobile robot to travel safely, travelable area detection is necessary in such areas where traveling becomes hard by differences in the height and material changes. Our system is integration of evaluations suitable for each such factors that make traveling hard. The evaluations are composed of the height information, the curvature estimation, the classification of the reflection intensity. Afterwards, we construct a local environment map of the robot from detected results. The effectiveness of the proposed method is proved through the experiments results in outdoor environments.
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© 2014 一般社団法人 日本機械学会
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