概略地図情報と運動学モデルを用いた照度測定ロボット の進化的自己位置推定

抄録

In recent years, shortages of worker caused by declining birthrate and aging population have been seen as serious problem in various industries. So using of robots has been considered for labor saving and shortening of working hours. Especially in the construction industry, the illuminance measurement work is a heavy load for the worker because this work requires measurement, recording, data organization, etc. at night when influence of light from outside is small. Therefore it is hoped to develop a robot that can replace the illuminance measurement work at indoor construction sites. We have developed the illuminance measurement robot and have shown its effectiveness.

For autonomous movement, we use evolutionary SLAM which can estimate the position with high accuracy even in an unknown environment. But it has problem of position loss, which causes failure of illuminance measurement work. In this paper, we proposed the method using a robot kinematic model which can localization with high success rate, the method using CAD map which can fix position loss, and the method which combines these. Then, we discussed its effectiveness from the viewpoint of improving efficiency of the illuminance measurement work.