未知環境下の移動ロボットによる可変分解能グラフ地図の自律生成

抄録

This paper presents a method that allows simultaneous map building and path planning for mobile robots in unknown environments. A graphical representation of a workspace in variable resolutions is constructed using measurement data obtained by omnidirectional distance sensors. At the same time, a search for a feasible path to the target destination is executed using the constructed graph map. The proposed method is evaluated by performing simulations and experiments using an omni directional mobile robot equipped with laser range finders.