Examination of a method for updating evacuation route maps using SLAM with 2D-LiDAR

Abstract

The evacuation route for residents in the event of a disaster such as an earthquake is formulated by an evacuation plan in advance. However, it is difficult to evacuate smoothly only by the evacuation plan in advance due to traffic obstacles due to fires and collapses on the evacuation route and traffic congestion due to the concentration of evacuees. Therefore, the ultimate goal is to develop an evacuation guidance support robot that searches for evacuation routes with SLAM in the event of a disaster, observes the damage situation and evacuation situation, and formulates an appropriate evacuation route according to the situation compared to the previous map．In order for the evacuation guidance support robot to respond to the harsh situation at the time of a disaster, it is necessary to integrate various sensor information such as LiDAR, camera images, and ultrasonic waves to observe the situation, and we will consider how to utilize each sensor. In this study, we search based on the evacuation map measured before the disaster, scan the evacuation map using 2D-LiDAR, and compare both maps to observe obstacles on the evacuation route. Consider how to update the map while calculating new evacuation routes with SLAM．