Considerations for SLAM Technology in Dynamic Underground Spaces

-Optimal placement of markers-

Abstract

The ultimate goal of this research is to estimate the self-position of an autonomous vehicle in an underground environment where GNSS cannot be used and environmental texture changes are poor.

We propose a method to find the optimal placement of markers. The placement of the markers is determined using a genetic algorithm. The evaluation values are considered as the area visible from the markers, the mutual distance between markers, and the variance of markers.