Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
In the path planning of autonomous mobile robots, it is desirable to consider not only the free space but also the condition of the road surface. In this study, we assume that the classification result of the road surface condition can be obtained as a probability distribution, and examine the data structure and update law for holding it on the grid map. The data update rule applies the Bayesian filter. In the simulation, the measurement of a single road surface condition and the measurement of two road surface conditions were performed. The results, the proposed update rule worked effectively, and the execution result of the appropriate route plan was confirmed.
