Co-evolutionary Optimization for Autonomous Illuminance Measurement Robot
井上 椋太 Ryota INOUE 草刈 佑太 Yuta KUSAKARI 辻元 誠 Makoto TSUJIMOTO 谷口 和彦 Kazuhiko TANIGUCHI 久保田 直行 Naoyuki KUBOTA
Co-evolutionary OptimizationIlluminance MeasurementMobile RobotPath PlanningSLAM
Illuminance measurement is one of heavy burden tasks, which needs two people at least and conducts at night, in the construction work. For these reasons, the demand of optimized illuminance measurement system is becoming high, and we have proposed the system using a mobile robot. In the construction site which does not have enough landmarks for SLAM, illuminance measurement task cannot be successful because the robot cannot estimate its position, going to the wrong place. For this problem, this paper also proposes co-evolutionary optimization method which includes path planning and landmarks setting to estimate the robot's position correctly.