Development of a Disaster Prevention System with Multi-sensored Stakes: Cooperation with an Unmanned Vehicle and Improvement of Measurement Accuracy

摘要

This paper presents the economical disaster prevention system constituted of a multi-sensored stake and an unmanned vehicle, which can cope with various kinds of disaster. The multi-sensored stake can acquire environmental data by the estimation based on its model from data captured by mounted sensors, and be utilized as a landmark for the unmanned vehicle. The unmanned vehicle collects the data acquired by the stakes. A communication experimentation has demonstrated the feasibility of the proposed system. Moreover, the sensored stake model are derived in order to estimate the angle applying Kalman Filter.