1A1-F13 環境探索のための移動ロボットのナビゲーション 1A1-F13 Mobile Robot Navigation for Exploration and Mapping

This paper deals with the exploration of a mobile robot in an unknown environment. Map building, path planning, and 2D space exploration were implemented for a small sized mobile robot equipped with a laser scanner. First, we built 2D map by using a scan matching method, then we converted 2D map to a grid map for path planning. Second, we separated free space and obstacle cells by expanding obstacles area, and then we expressed movable routes by connecting free cells as arcs of graph expression. Third, we calculated the shortest path among the multiple route candidates by a Dijkstra method. We implemented these algorithms and verified its validity from the experimental results.