Title :
Real-time 2D map building for an unmanned vehicle in a closed area
Author :
Iikura, Hiroki ; Ogawa, Shinya ; Kobayashi, Kazuyuki ; Watanabe, Kajiro
Author_Institution :
Dept. of Syst. Eng., Hosei Univ., Tokyo, Japan
Abstract :
This paper presents an improvement to a new map-building and self-localization method for an unmanned conveyance car in a closed area. The accurate mapping is required to navigate the conveyance car. The proposed mapping method is based on the detection of straight-line segments measured by a laser rangefinder. The proposed method was verified by experiments carried out in real spaces.
Keywords :
intelligent robots; laser ranging; mobile robots; position control; remote handling equipment; remotely operated vehicles; laser rangefinder; real-time 2D map building; self-localization method; straight-line segment detection; unmanned conveyance car;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
