ロボット調査システムによる亜炭廃坑内部の環境地図生成の検証実験報告

抄録

There is a danger of collapse in underground cavities, so the cavity filling is in progress. The cavity filling has been ongoing by local governments. There is no cavity map in the abandoned lignite mines, and it is required to grasp and explore of the underground space in order to estimate the amount of the filling material. By a request from Mitake-cho in Gifu Prefecture, we got the opportunity to explore the inside of an abandoned lignite mine by using our robot system. In this paper, the results of confirming the effectiveness for the improvement of the accuracy of environmental map generation by dynamic control of LRF angle was described.