差動二輪ロボットのためのSLAMアルゴリズム開発

DOI 機関リポジトリ (HANDLE)

書誌事項

タイトル別名
  • DEVELOPMENT OF A NEW SLAM ALGORITHM DEVELOPMENT OF A NEW SLAM ALGORITHM

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説明

In this paper, we describe the development of a new SLAM algorithm for differential drive robots using 3D LiDAR. Traditional SLAM scan matching often employs ICP (Iterative Closest Point) matching, which evaluates point-to-point correspondences, or NDT (Normal Distributions Transform) matching, which evaluates point-to-distribution correspondences. However, these methods require repetitive optimization, which can lead to local optima and fail to calculate the correct position and orientation (matching). Therefore, this paper proposes a new SLAM algorithm that leverages the characteristics of differential drive robots by limiting their movements to in-situ turning and straight-line movement. This approach eliminates the issues associated with ICP and NDT matching and treats the problem as a linear estimation issue, enabling fast and stable position and orientation estimation. The effectiveness of the proposed new SLAM algorithm for differential drive mobile robots is evaluated using a 3D robot simulator.

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詳細情報 詳細情報について

  • CRID
    1390582462817899648
  • DOI
    10.15002/00030781
  • HANDLE
    10114/00030781
  • ISSN
    24368083
  • 本文言語コード
    ja
  • 資料種別
    departmental bulletin paper
  • データソース種別
    • JaLC
    • IRDB
  • 抄録ライセンスフラグ
    使用可

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