1A2-E30 移動ロボットの傾きを考慮した複数のランドマークによる位置姿勢認識

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  • 1A2-E30 Self-localization of a mobile robot which has a degree of inclination by multi-landmark

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Our present study aims to establish a method for estimating the position of a mobile robot traversing irregular ground. More specifically, we apply simultaneous localization and mapping (SLAM) using a laser range finder (LRF). We derive an expression to estimate the position of the mobile robot relative to a fixed landmark using the LRF. We use two poles for the landmark in our experiment. We confirm the effectiveness and accuracy of our proposed technique by both simulations and experiments.

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