機能の異なる親子ロボットによるグリッドベース探査手法の研究

抄録

This paper presents simulation results for grid-based exploration methods using parent and child robots with different functions. Child robot explores sub-map that parent robot can’t explore or the one that need to be explored precisely. Parent robot explores the other map and also carries the child robot to the sub-map. Parent-child system allows application with different functions or types of robots about exploration. Furthermore, we propose a Grass-fire algorithm based Coverage Path Planning algorithm using distance value of the map also used in path planning, and validate the effectiveness of this algorithm.