Practical Implementation of FastSLAM for Forestry Robot

DOI
  • Geiser Sylvain
    Department of Interdisciplinary Informatics, Graduate School of Computer Science and Systems Engineering
  • Chumkamon Sakmongkon
    Department of Mechanical Information Science and Technology, Kyushu Institute of Technology
  • Tominaga Ayumu
    National Institute of Technology, Kitakyushu College
  • Tomokawa Takumi
    Department of Mechanical Information Science and Technology, Kyushu Institute of Technology
  • Jie Tan Chi
    Department of Mechanical Information Science and Technology, Kyushu Institute of Technology
  • Hayashi Eiji
    Department of Mechanical Information Science and Technology, Kyushu Institute of Technology

説明

As the Japanese forestry workforce is shrinking, field robots are gaining interest in performing dangerous tasks. This paper presents research conducted on the SOMA robot designed at Hayashi Laboratory. It focuses on issues encountered through the implementation of FastSLAM algorithm on this robot. In particular, the determination of the positions of trees from the raw pointcloud of the lidar, side effects occurring at the boundary of the lidar visibility scope, and the modelling of motion and observation noises are discussed.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390859758187574656
  • DOI
    10.5954/icarob.2023.os13-6
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
    • OpenAIRE
  • 抄録ライセンスフラグ
    使用不可

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