マルチコプタ用閉鎖空間探索技術

抄録

We aim to search by automatic piloting of known areas (indoor) under GPS-denied environment. Specifically, the wall surface of a room without obstacles is set as a course, and it is searched by autopilot. The sensors used for automatic piloting were selected as follows. Since the objective of this research is automatic piloting in the unsearched area, it is not appropriate to self position estimation by giving the external environment in advance, such as AR marker and motion capture. Next, Visual SLAM is not appropriate for indoor use because data cannot be obtained in dark places, and it is difficult to recognize walls with little color change. Therefore, we proposed a method to measure and avoid the distance of obstacles using the laser range finder.