低FoVなSolid-State式LiDARを用いた巡視点検向け自律走行ロボットの開発

抄録

This research develops an autonomous mobile robot to automate indoor/outdoor patrol. We prototyped a crawler robot with LiDAR, GNSS, IMU, for navigation, and PTZ camera for patrol. We adopted a solid-state LiDAR for localization, while a lack of FoV was a problem for localization accuracy. In this research, we implemented a localization algorithm using edge features, and achieved 0.237m accuracy, with required accuracy 0.3m. In addition, we successfully demonstrated navigation, automatic shooting, and meter reading with a robot.