Sylvain Geiser¹, Sakmongkon Chumkamon², Ayumu Tominaga³, Takumi Tomokawa², Eiji Hayashi^2
1Department of Interdisciplinary Informatics, Graduate School of Computer Science and Systems Engineering, Kyushu Institute of Technology, 680-4, Kawazu, Iizuka-City, Fukuoka, 820-8502, Japan
²Department of Mechanical Information Science and Technology, Kyushu Institute of Technology, 680-4, Kawazu, Iizuka-City, Fukuoka, 820-8502, Japan
³National Institute of Technology, Kitakyushu College, 5-20-1 Shii, Kokuraminamiku, Kitakyushu, Fukuoka, 802-0985 Japan
pp. 177–182
ABSTRACT
Less and less Japanese are working in the forestry sector. Due to this lack of workforce, dangerous tasks could be delegated to robots. In order to perform this mission, the latter need embedded localization and mapping systems. This paper discusses the implementation of a particle filter based SLAM solver on a dedicated mobile robot called SOMA, developed at Hayashi Laboratory. The proposed approach has been evaluated in a realistic forest simulation and the first results suggest that it could be used in real time
Keywords: Field robot, Online SLAM, Forestry, Particle filter

© 2022 The Author. Published by Sugisaka Masanori at ALife Robotics Corporation Ltd This is an open access article distributed under the CC BY-NC 4.0 license ( h ttp://creativecommons.org/licenses/by-nc/4.0/).

ARTICLE INFO
Article History
Received 24 November 2021
Accepted 31 May 2022

J-STAGE9211

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