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Summary & Details

Development of SLAM autonomous driving technology adapted to the lunar environment．

月面環境に適応するSLAM自動運転要素技術の開発

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Format: PDF

Price: Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880

Publication code: 20234264

Paper/Info type: Journal of Society of Automotive Engineers of Japan

Vol.77 No.6

Pages: 112-118(Total 7 p)

Date of publication: Jun 2023

Publisher: JSAE

Language: Japanese

Detailed Information

Category(J)	ホットトピックス Translation
Author(J)	1) 中野正晴, 2) 若山真則, 3) 田村創
Author(E)	1) Masaharu Nakano, 2) Masanori Wakayama, 3) Sou Tamura
Affiliation(J)	1) 大成建設, 2) 大成建設, 3) パナソニックアドバンストテクノロジー
Abstract(J)	建設機械による施工作業を自動化するためには，自車の位置・姿勢を把握して自動運転する必要がある．地上では GNSSを基礎とした測位技術を利用することが多いが，月面では別の手段を用意する必要がある．LiDAR-SLAMとランドマークSLAMを組み合わせた自己位置推定方法を開発し，月面への適用可能性をシミュレーション評価するものである． Translation
Abstract(E)	In order to automate construction work using construction machinery， it is necessary to grasp the position and posture of the own vehicle and automatically operate it． On the earth， positioning technology based on GNSS is often used， but on the lunar surface， another technology need to be prepared． We report the applicability of the self-position estimation method combined with LiDAR-SLAM and landmark SLAM development to the lunar surface．

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