建設作業用移動ロボットの自己位置計測法 : 第2報,柱のエッジ検出アルゴリズムの改良

抄録

This paper describes a new self-position measurement system for autonomous mobile robots working at building sites. The robots must be able to position themselves precisely at desired locations for building operations. Although the method depends on the basic principle of triangulation, no preparations are required for establishing reference points. On the floor of a large building, pillars standing in known positions at intervals of about 10 meters can serve as reference objects. Experimental results obtained using the prototype system, which was composed of a laser range finder and an angle-measuring unit, proved that this system was able to determine its position with an error of±5 millimeters.