照度測定ロボットのための事前地図に基づく進化的自己位置推定による環境地図の破綻防止

抄録

In the field of construction industry, illuminance measurement is expected to be automated using mobile robots. However, the present illuminance measurement robot is not able to execute the autonomous driving to the end. This is mainly caused by the distortion which emerges on the environment map. In this paper, we propose two methods to prevent the distortion on the environment map. The first method is a way to check the environment map on real time by comparing with the architectural drawing as a scale and eliminate the distortion if detected. The second method is a way to improve the fitness function used in the evolutionary computation for localization. Our results show that our methods can prevent the distortion on the environment map and contribute to stabilize the autonomous driving of the illuminance measurement robot. We conclude that our method is a promising technique to accomplish the illuminance measurement autonomously.