地理情報システムを用いた移動ロボットの自己位置推定の提案

抄録

An environment map is essential information for autonomous mobile robots. In this map, a robot plans the path, localizes the position, and controls the motion. In general, the map for robots is generated through a so-called SLAM technique, simultaneous localization and mapping. However, it is difficult to generate the entire environment map. For this issue, we focused on a geographic information system, GIS, map. Furthermore, we propose a localization method for a robot in the GIS map. This method is composed of two localization phases: global localization using GPS and precise localization using 3D LiDAR. In the experiments, we discuss the effectiveness of the proposed method in consideration of the localization and navigations results.