Environmental Perception for Mobile Robots Using a Variable Ranging Sensor Array
Tomoyuki ARAI, Ryota INOUE, Sasuga Kitai, Yuichiro Toda, Kazuyoshi Wada, Naoyuki Takesue, Naoyuki Kubota · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2019
Recently, large-scale disasters occur frequently, and the demand for disaster robots is increasing. Environmental perception is necessary for mobile robots to act autonomously in complex environments such as disaster sites. Various measurements are necessary for environmental perception in such environments. For example, global measurement for recognizing the entire surrounding environment, local measurement for recognizing an obstacle, and the like are included. Therefore, in this research, we develop a Variable Ranging Sensor Array equipped with multiple Laser Range Finders. In this paper, we propose a control method of the sensor array measurement using the concept of Multi-Objective Behavior Coordination. We showed the effectiveness of the proposed method by experiment that moved the mobile robot autonomously based on the environmental perception result from the sensor array.