Autonomously generating a 3D map of unknown environment by using mobile robots equipped with LRF

摘要：

This paper proposes an exploration method for an automated 3D map generation of an unknown environment by using a group of robots equipped with LRF (laser range .nder). The robots are composed of a parent robot measuring its environmental structure and two child robots being used as landmarks for localization of the parent robot. The method decides positions of the robots to generate the accurate map. We conducted experiment of the map generation of a hall whose size is 70m ×5m × 8m. The positional error in the map was less than 10cm.

作者: Tsuyoshi Yokoya Tsutomu Hasegawa Ryo Kurazume

作者单位: Graduate School of Information Science and Electrical Engineering,Kyushu University,744 Motooka,Nishi-ku,Fukuoka,819-0395 Japan

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 269-274

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）