北極海氷調査自律移動ロボットの開発

―氷雪上走行における検討と高精度測位システムの基礎的開発―

抄録

We have been working on the development of autonomous mobile robots for the Arctic sea ice survey system. In this system, the robot is required to be able to run stably on ice and snow, and to run autonomously by highly accurate positioning. In this paper, Russell performance experiments to improve running performance on ice and snow, and route map creation of position information by RTK-GNSS for autonomous driving were performed on Lake Saroma ice in winter. From the experimental results, we clarified the Russell performance during running and achieved the creation of route mapping of location information.