RB5低コスト探査ロボット：安価なハードウェアで実現する自律長期探査
RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware
RGB-Dカメラと低消費電力計算機のみを搭載したロッカーボギー式車輪ロボットで、フロンティア探索とサンプリング探索を拡張した手法により、低頻度更新でも未知・GPS不可環境を自律的に長期探査できることを示した。
著者: Adam Seewald, Marvin Chancán, Connor M. McCann, Seonghoon Noh, Omeed Fallahi, Hector Castillo, Ian Abraham, Aaron M. Dollar
分類: cs.RO
原文アブストラクト
This systems paper presents the implementation and design of RB5, a wheeled robot for autonomous long-term exploration with fewer and cheaper sensors. Requiring just an RGB-D camera and low-power computing hardware, the system consists of an experimental platform with rocker-bogie suspension. It operates in unknown and GPS-denied environments and on indoor and outdoor terrains. The exploration consists of a methodology that extends frontier- and sampling-based exploration with a path-following vector field and a state-of-the-art SLAM algorithm. The methodology allows the robot to explore its surroundings at lower update frequencies, enabling the use of lower-performing and lower-cost hardware while still retaining good autonomous performance. The approach further consists of a methodology to interact with a remotely located human operator based on an inexpensive long-range and low-power communication technology from the internet-of-things domain (i.e., LoRa) and a customized communication protocol. The results and the feasibility analysis show the possible applications and limitations of the approach.
