Kriging法を用いたレスキューロボットの移動経路決定法に関する研究

抄録

In recent years, due to the increasing size of buildings and the concentration of urban areas, the damage caused by disasters such as earthquakes tends to increase. In this case, deploying rescue robots has the effect of reducing the damage caused by secondary disasters. Therefore, in this study, we develop a method for a robot to autonomously construct a three-dimensional map and determine its search path, assuming the GPS function cannot be used in the environment. Heights at several locations are measured in a target environment, and the 3D map considering the height distribution of obstacles is constructed by the Kriging method. The path search method based on the potential method is applied to the height map, and a moving path avoiding obstacles is determined by the proposed approach.