フィールドセンシングロボットにおける中山間地での自己位置推定システムの開発

抄録

In this study, we are developing an autonomous moving robot for labor-saving in forest industry. Traditional forest management and maintenance consumes excessive labor time, and place large labor burden on the workers. In this study, we are considering about a self-localization method in a mountain forest fields, this is to increase the efficiency of task by the robot. In our localization system, the Monte Carlo Localization is applied, and a triangle pattern constructed by a trees coordinate is used as observation vectors. Finally, we experimented the self-localization using proposed method, and confirmed effectiveness of it.