屋内環境におけるガラス検出と準動的環境物体を取り入れたナビゲーションの提案

抄録

This research is aimed to further develop autonomous mobile robots in human living spaces. An environment map is necessary for robot navigation, and in the indoor environment map, it is difficult to detect things transparent to lasers such as glass and to describe them in the environment map. However, when the laser is vertically applied to the glass, the specular reflection occurs and information on the glass can be acquired, so the glass can be detected. The reflection intensity obtained at this time is stronger than other objects. We will use the reflection characteristics of glass for detection, describe it on the map as Semi-Dynamic Environment Object and propose a navigation considering the glass area.