Autonomously generating a 3D map of unknown environment by using mobile robots equipped with LRF
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.
Tsuyoshi Yokoya Tsutomu Hasegawa Ryo Kurazume
Graduate School of Information Science and Electrical Engineering,Kyushu University,744 Motooka,Nishi-ku,Fukuoka,819-0395 Japan
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
269-274
2009-12-19(万方平台首次上网日期,不代表论文的发表时间)