3D LiDARによるスロープの検出と移動ロボットの誘導

抄録

Recently, barrier-free policy has been promoted to support the mobility of wheelchair users. This research develops a method of detecting a ramp and navigating a robot on it. We use a 3D LiDAR to get a point cloud of a ramp, estimate normals and remove unnecessary surfaces. Next, estimate their edges and center line of slope using the least-squares method. Then, we control the robot to follow the line. We tested the robustness of the method against a variety of initial robot pose with respect to the ramp.