照度測定の自動化に向けた自律移動ロボットの知能化技術
概要
Recently, the expectation to autonomous mobile robots has been increasing much in order to try to save labor in various scenes. However, there are many critical problems in autonomous mobile robot system. In this paper, we develop the autonomous mobile robot system for an illuminance measurement. In the mobile robot, the environmental map building and self-localization is the fundamental capability for performing the task given by operator. Therefore, we propose the real-time self-localization method based on an evolution strategy. Next, we propose a method of a control system based on fuzzy estimation and multi-objective behavior coordination. Finally, we show an experimental result of the proposed method.
