2A2-I11 屋内動的環境における人間行動マップの生成とアップデート(移動ロボットの自己位置推定と地図構築(2))

Abstract

In recent years, researches and developments of robots working in human living space are increasing with development of robot technologies. Environmental information acquisition and human existence detection and estimation are necessary to control the robots moving in this kind human living space. In this study, we propose human motion map based on a concept of representing extracted human behavior in the human living space as a map, by using human existence estimation function and mapping function of SLAM. For building the human motion map, human walking area interpolating algorithm and map update algorithm are proposed. Finally, we implemented human motion map generating system with above-mentioned two algorithms on a mobile robot. The human motion map could be used as information for both motion planning of robots and further estimation of human motion in dynamic environment. Additionally, human motion map can express the behavior of more human motion by performing further accumulation of human walking motion.