LiDARによる屋外の小エリアの自律走行に関する研究

抄録

An autonomous mobile robot system is developed with a main sensor of a LiDAR and a PC. Measurement and control programs are described in ROS. For the first test in room environment, the robot autonomously drives along an auto-planed route on the map generated by SLAM. In a case of detection of interrupting objects, the operating programs re-generate an alternative route and the robot avoids the collision. The same movement programs are executed for a drive on an outdoor short passage in daytime. Autonomous movement is not achieved by using an indoor-use LiDAR but by a light resistant LiDAR. The suitable LiDAR should be selected for this development.