未知環境における画像情報付加地図作成のための軌道計画

抄録

Trajectory planning method for generating Image Information Added Map (IIAM) in unknown environment is proposed. In the proposed method, the exploration point for measuring unexplored area in the environment and the observation point to shoot the recognized object are set, and by following them, the mobile robot generates a map of environment and adds image information to objects. The exploration point is set on the boundary between the unknown area and the known area, the observation point is set based on object’s surface, and the trajectory is planned by greedy algorithms. The efficiency is shown by simulation.