積雪環境における移動ロボットの行動生成

―積雪路面におけるGANによる舗道の検出精度向上―

抄録

In order to reduce the burden on the elderly in heavy snowfall areas, it is important to support snow removal work with robots. In this study, we propose a motion control method to follow snow-covered road for autonomous mobile robot equipped with an RGB camera. To this end, we improve the road detection accuracy of semantic segmentation by using generative adversarial network (GAN) in snowy environment. In addition, the central point of the detected road area was extracted as sub-goal for the motion control of the mobile robot. The experimental results show that the proposed method has improved the accuracy of semantic segmentation and the mobile robot is able to follow snow-covered road stably.