全方位カメラと発光型ランドマークによる自律型移動ロボットの自己位置検出

―不整地を走行する移動ロボットの自己位置検出と走行経路修正―

抄録

In this study, we detected multicolor luminous landmarks by omni-directional camera installed to the mobile robot. The landmarks, which are reflected on the surface of hyperboloidal mirror, are detected by CCD camera installed under the omni-directional camera and used for self-localization. We consider that the incline of the robot influences the value of self-localization. When the robot has inclined, the mapping coordinates of the landmark on CCD camera have varied in comparison with the coordinates in the case of not inclined. Thereby, the value of self-localization has been incorrect. In the case of travelling on rough field, we restore the mapping coordinate of landmarks for modification of the value of self-localization and the route of the robot.