Abstract
Recently, in order to reduce secondary disasters at the disaster site, the expectation of rescue robots has been increasing. In the disaster site, many kinds of environments are mixed, for example flat areas, steps, and rubble areas, etc. Therefore, if robots perform the environmental sensing in the complicated environment, it is necessary to change the measurement area and density according to the environment information. In this paper, we develop a Variable Sokuiki Sensor Array as a 3D-distance measurement system for changing measurement area and density. Next we propose an intelligent control method for the sensor array based on Multi-objective Behavior Coordination. Finally, we show results of proposed method in a simulation experiment.
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