プラントフィールドの保守作業を支援するロボットシステムの構築

― 第３報 屋外環境における走行と地点計測 ―

抄録

The purpose of this research is development of autonomous mobile robot system applied to expansive plant filed for maintenance support. For demonstration on the environment like plant filed, the experimental robot is designed to move on passage with ordinal bumps and on slopes. A GNSS receiver, an IMU, and a scanning rangefinder are equipped. In the test run of the city-area robot demonstration “TSUKUBA Challenge 2021”, the robot is driven through the prescribed course consisting of public walkways, open square, and sloped park passages by manual operation. Positioning is simultaneously executed by GNSS-RTK measurement. The results agree well to the existing locations.