Abstract
This paper proposes observation planning algorithm for running in living space. In living spaces, layout of the environments will be change by human. Therefore, robots need abilities to sense and avoid the environment changes. Sensors for mobile robots have limitation, these are measuring time, field of view, measurement error, and so on. Therefore, robots need to move the sensors to measure sweeping region. In this paper, planning algorithm for path and measuring are proposed. The proposed algorithm optimizes path and sensing direction of the robot for safety and fast navigation in living environments. The paper describes problem settings for measuring planning in living environments and planning algorithms to solve the problem.
