Departmental Bulletin Paper 自律移動ロボットのための障害物検出機構の開発
DEVELOPMENT OF NEW WIDE RANGE OBSTACLE DETECTION SYSTEM FOR AN AUTONOMOUS MOBILE ROBOT

吉田, 智哉  ,  YOSHIDA, Tomoya

(56) 2015-03-24 , 法政大学大学院理工学・工学研究科
ISSN:2187-9923
NCID:AA12677220
Description
In this paper, we describe a development of new rotation swing mechanism based 3D LIDAR module for mobile robot. Employment of rotation swing mechanism enables wide scanning area with 3D obstacle shapes which is suitable for mobile robot sensor. To confirm validity of developed new rotation swing mechanism, we analyze scanning data to reconstruct 3D obstacle shapes. Because of use for mobile robot, we also investigate effect of movement which cause twisted 3D obstacle shapes.
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http://repo.lib.hosei.ac.jp/bitstream/10114/10610/1/13R6109.pdf

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