Household disaster map generation and layout simulation using environment recognition map by cleaning robot

Abstract

A household disaster map is required as a countermeasure against earthquakes. In particular, evacuation is difficult in a messy crowded indoor space. Therefore, the visualization of areas that are likely to hamper evacuation is important. This study focused on cleaning robots. Cleaning robots generate environmental recognition maps to control their movement. This study proposes a system that detects obstacles impeding evacuation in households. The system used an environmental recognition map generated by a cleaning robot. The map generation algorithm was based on image processing and stochastic virtual pass analysis based on a pseudo cleaning robot model. Stochastic virtual pass analysis was performed to track the coordinates (the virtual pass of the robot model) inside the room. Furthermore, the proposed system was tested in a laboratory. Moreover, the simulation of layout design changing was conducted.