1P1-E04 走行安全性制約に基づく可変分解能グラフ地図生成(【交通・物流部門】カー・ロボティクス)

抄録

This research develops a new graph-map method for autonomous mobile robots based on variable-resolution dividing space. Unlike conventional roadmaps, which include position information only, the proposed graph-map also includes direction information. In this manner, the robot is able to plan a path in detail. Direction information of each node is not a fixed value but a range, which is constructed by dividing direction space based on variable-resolution according to a surrounding situation of links connected to the node. Finally, the proposed method is evaluated through simulations.