2D-LiDARによるクローラ型ロボットの路面障害物検知技術の開発

抄録

This department is developing a crawler robot that can run autonomously in the open air. In order to prevent collisions with obstacles during autonomous driving, we have developed an obstacle detection technique using 2D-LiDAR that is robust to the vibrations and shaking characteristic of crawler robots. Our method is based on the line data of the running road surface from the irradiation data of 2D-LiDAR, and detects obstacles on the road surface from each feature. In this paper, we explain the method, clarify the problems based on the experimental results of the avoidance behavior based on the obstacle detection results, and propose solutions to the problems.