自己位置推定のための複数のレーザ距離計を用いた計測システムの試作

抄録

Self-position estimation technology is important for autonomous robots and other applications. However, most of the 2D LiDAR systems used for such applications have low sampling frequency and resolution, and are not suitable for high-precision and high-speed control. Therefore, we have proposed the measurement system that combines 2D LiDAR and one-dimensional laser rangefinder. The system uses a 2D LiDAR to detect walls and a one-dimensional laser rangefinder to point at the wall to detect the relative position of the wall. In conventional system, it is difficult to detect the relative angle between the wall and the measurement system. In this paper, we propose a system that detects the relative angle between the mesument system and the wall by adding a one-dimensional laser rangefinder, and conduct experiments to confirm its operation. As a result, we found that the system can detect the distance and angle to the wall.