マルチセンサフュージョンに基づく照度計測ロボットの行動制御

抄録

Recently, Japan is one of the aging-society countries due to low birth rates. Aging-population leads to labor shortages in the country in which cause the labor market under pressure. Thus, various robotics researches have been carried out to overcome labor shortage issues. One of the building construction tasks is to measure the illuminance of newly constructed buildings efficiently. Therefore, researchers developed mobile robot systems for navigating the building and measuring environmental illuminance autonomously. Most of the existing robot systems are solely depending on laser range finders for obstacles detection and navigation. However, objects such as ladders and cables are neglected by the existing robot systems which may cause a collision during the navigation. In this paper, we propose a multi-sensor system that integrates laser range finder data and depth camera images for objects detection and avoidance. A series of experiments are conducted to validate the effectiveness of the proposed method.