清掃ロボの環境認識地図を活用した家屋内防災地図生成システム

抄録

Household disaster map is required for countermeasure against earthquake disaster. In this paper, a household disaster map generation system is proposed using ambient environment recognition map which generated by cleaning robot. The household disaster map is generated by the inverse pass analysis of virtual cleaning robot behavior. Movement disorder for the virtual cleaning robot can be read the evacuation obstacle to in-house person. The algorithm for map generation is composed from the image processing and the random walk analysis. The image processing which is composed from the binarization process is performed to quantify the bound between in-house and out-house. The random walk analysis is performed to track all coordinate (i.e., virtual pass of cleaning robot) in house. Furthermore, the fundamental operation test of proposed system is conducted in an experimental laboratory situation.