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JRM Vol.30 No.1 pp. 145-154
doi: 10.20965/jrm.2018.p0145
(2018)

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Development of Robot for 3D Measurement of Forest Environment

Masaru Morita*, Takeshi Nishida*,†, Yuta Arita*, Mirei Shige-eda*, Enrico di Maria**, Roberto Gallone**, and Nicola Ivan Giannoccaro**

*Kyushu Institute of Technology
1-1 Sensui, Tobata, Kitakyushu, Fukuoka 804-8550, Japan

**University of Salento
Via per Monteroni, 73100 Lecce, Italy

†Corresponding author

Received:
April 19, 2017
Accepted:
October 2, 2017
Published:
February 20, 2018
Creative Commons License
Keywords:
rocker-bogie suspension system, LiDAR sensor, 3D digital map, forest environment, ROS
Abstract

This paper describes the development of a robot that can move through a forest environment and automatically generates three-dimensional (3D) digital maps. We designed and constructed the robot, equipping it with a rocker-bogie mechanism composed of six drive wheels and four steering motors. This mechanics enables the robot to move damaging a forest as little as possible while negotiating the obstacle in it. This robot is equipped with a 3D light detection and ranging sensor, and it uses the normal distributions transform algorithm to construct 3D digital maps. We tested the generation of a 3D digital map of 50 m2 of a sloped forest environment and verified the generated map by comparing it with a map constructed manually by engineers. The comparison revealed an error of less than 0.15 m.

The developed robot that can move through a forest and generate 3D digital maps

The developed robot that can move through a forest and generate 3D digital maps

Cite this article as:
M. Morita, T. Nishida, Y. Arita, M. Shige-eda, E. Maria, R. Gallone, and N. Giannoccaro, “Development of Robot for 3D Measurement of Forest Environment,” J. Robot. Mechatron., Vol.30 No.1, pp. 145-154, 2018.
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Last updated on Apr. 19, 2024