概略地図における照度計測ロボットの進化的自己位置推定

抄録

In recent years, labor shortages caused by the declining birthrate and aging population have become a serious problem in various industries. Especially in the construction industry, illuminance measurement work is very hard, so automation of the work is hoped. In past research, we have developed the illuminance measurement robot which moves autonomously and have shown its effectiveness. SLAM used for autonomous movement has big problems such as fail caused by accumulation error and position lost. Our study also confirmed fail of SLAM at several construction sites. In this paper, we propose an evolutionary localization method using CAD map, and discuss its effectiveness from the viewpoint of improving the efficiency of illuminance measurement work through multiple running experiments.