計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
三次元測域センサを用いた走行可能領域の抽出
—一般市街地における自律移動ロボットの開発—
江口 純司尾崎 功一
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2016 年 52 巻 3 号 p. 152-159

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This paper describes the extraction method of low up and down steps and objects in urban area. For autonomous mobile robots, one of the most important technologies is a travelable area extraction. It is similar to extract the low obstacles. However, the position of the laser scanner is unstable since the most of road surface is rough. Therefore, low objects are often confused with the ground and it is difficult to distinguish them by measurement of height. On the other hand, the horizontal distance measured by the 3D-laser scanner has a difference. The measurement distance to the low object is shorter than ground. The distance table as reference is adopted. The scan data from a 3D-laser scanner is compared with the table to extract the low object. On the experiments in outdoor environment, the curb stones of the load under 10cm were extracted correctly in several scene. This method contributes navigation scene that a robot avoids contact with most of the objects in urban area.

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© 2016 公益社団法人 計測自動制御学会
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