2A1-5 動的物体を反映した自律移動ロボットのための環境地図の構築(OS9:空間知) 2A1-5 Map Building a map Including Mobile Objects in Living Environments for Mobile Robot Navigation

This paper presents a method to build a map including mobile objects' movement for mobile robot navigation in living environments. If a robot can generate a path to move a destination taking humans' working areas into account, the robot can reduce crossing the areas. Then, it can be expected that the robot can get to the destination efficiently and people's activities will not be disturbed. We conducted experiments to evaluate performance for detecting moving objects using the proposed method by comparing with a background subtraction method. Maps describing both static and moving objects are also shown.