長距離・長時間運用可能な屋内移動ロボットの開発と評価

抄録

The purpose of this study is to develop an indoor autonomous mobile robot using 3D LiDAR, and to evaluate its performance and problems. In recent years, mobile robots using 2D LiDAR have begun to be widely used, but there are problems with 2D LiDAR alone, such as undetectable obstacles and unstable localization in some cases. Therefore, we developed an indoor autonomous mobile robot using 3D LiDAR and conducted long-distance and long-term operation experiments and experiments of people avoidance in order to find the problems. By using 3D LiDAR for obstacle detection and localization, we were able to achieve highly accurate self-position estimation and stable navigation.