抄録
A cost map expressing easiness of street in the map by path finding is used, and the path varies with the value of the cost map. Generally the generation of the cost map is given depending on the distance from an obstacle, but, as for the generation method, a too deep argument is not done. Therefore We suggested sonar map, speed map, environment change map as technique newly to allot the cost to a map in this study. I showed the effectiveness of the proposal technique with simulation and an actual machine with mobile robot application Carmen Tookit and mobile robot Pioneer-2. As a result, the speed map was able to achieve shortening of movement time on simulation. In addition, by the experiment in the true environment where I used an environmental variation map for, Robot avoid dangerous places and succeeded in an obstacle and the path planning that did not collide.
