災害時の避難誘導支援ロボットに関する基礎研究

―3D-LiDARを用いた避難経路の計測方法の検討―

抄録

The evacuation route for residents in the event of earthquakes and other disasters is established based on advanced evacuation plans. However, it is difficult to evacuate smoothly with only a preliminary evacuation plan due to traffic obstructions caused by fires and collapsed buildings along the evacuation route, and traffic congestion caused by the concentration of evacuees. Therefore, the ultimate goal of this project is to develop an evacuation guidance support robot that can search for evacuation routes in the event of a disaster, observe the damage and evacuation situation, and formulate appropriate evacuation routes according to the situation. To cope with severe conditions during a disaster, it is necessary to integrate various sensor information such as LIDAR, camera images, and ultrasonic waves to observe the situation. In this study, we investigate a method of measuring evacuation routes using 3D-LiDAR. Using Livox Mid-40 LiDAR to construct a 3D map without IMU and then convert it into a 2D map for navigation. The amount of 3D point cloud data scanned by LiDAR is so large that it is not suitable for creating an evacuation route map as it is. Therefore, we study a method to create an appropriate evacuation route map from the scanned data by using the Octomap data format.