全方向移動ロボットと3D LiDARを組み合わせた屋内環境地図作成とナビゲーションに関する研究

抄録

With the recent expansion of the e-commerce market and the decrease in the labor force, the demand for mobile robots has been increasing and various studies have been actively conducted. We have combined a 3D LiDAR-based scan matching technology with an active-caster type holonomic omni-directional mobile robot that can generate arbitrary speed and angular velocity at any time and in any direction with high precision, aiming to realize advanced and autonomous omni-directional mobility indoors with high accuracy. As a result, we succeeded in (1) efficiently obtaining high-quality maps even in a narrow driving range, (2) controlling the robot's movement using the results of 3D LiDAR-based localization, and (3) performing autonomous avoidance movement against known obstacles.