Bluetoothを搭載した群小型ロボットによる協調自己位置推定に関する研究

抄録

The purpose of this research is the sharing of mapping data on multiple units for environment mapping by the SLAM method and improvement of mapping accuracy. There are many obstacles, which are dynamic or static, in a living space. In addition, the robot needs to decide the information from the external sensor attached to the robot. When a small robot works in a room, creating a map is inefficient. Thus, we thought about mapping and sharing data with multiple robots. We tried to make robots created maps efficiently by sharing data. We experimented on environment mapping using a small sensor of a small mobile robot and examined accuracy of the localization. As a result, we obtained accuracy of robot's self-position estimation and accuracy of a small distance measuring sensor used for environmental map construction experiment.