2A1-O05 可視性に基づく移動ロボットの自律的グラフ地図生成(移動ロボットの自己位置推定と地図構築)

概要

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The complete coverage of the entire unknown environment by autonomous mobile robot is needed in map building, navigation and exploration. This paper addresses on autonomous graph-map construction of mobile robot in unknown environment based on visibility of surrounding region. Because of obstacles in the workspace and the limit of the sensor performance, the region observing by sensor once is limited. Then robot should make view points to observe the unobserved region. In this paper, we show that the mobile robot can construct graph-map, using omni-directional distance sensor, of the entire unknown environment by repeating the movement and the observation toward the blind spot in the observed area.
一般社団法人日本機械学会の論文
2011-05-26