抄録
This paper presents the technique of improving the accuracy and reliability of localization of an autonomous mobile robot. Localization based on 2D LIDAR is not always satisfactory due to occlusion. Use of 3D LIDAR improves the reliability thanks to greater field of view. However, lack of 3D object around the robot may result poor matching. Even in that case, different brightness of the ground surface helps localization. In this paper, authors introduce a 3D LIDAR with swing mechanism and propose efficient expression of 3D map with consideration of LIDAR intensity. Experiment result shows successful localization in a trail through open grass fields.
