振動推進型ロボットにおける自己位置推定および配管図構築の研究

抄録

The number of aging sewer pipes is increasing every year, and there is a need for efficient inspection of these pipes. In order to solve this problem, we have developed a vibration-propulsion type in-pipe robot. In this paper, a method of constructing a three-dimensional pipe map based on forward kinematics by installing a 9-axis IMU and a laser ranging sensor in the rear of a robot.