著者

四木 宏香

出版者

法政大学大学院理工学研究科

雑誌

法政大学大学院紀要. 理工学・工学研究科編 (ISSN:21879923)

巻号頁・発行日

vol.61, pp.1-6, 2020-03-24

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The multi-map navigation using SLAM is one of the current research topics of the mobile robots. In this paper, we describe a study of a mobile robot navigation using the multi-map method. By applying SLAM, both the map and trajectory of a mobile robot can be generated simultaneously. However, the drawback of SLAM depends on sensor accuracy, which may cause mapping failure. One of the solutions to prevent the failure of mapping is not monolithic mapping but short-term multiple mapping. The advantage of short-term multiple map generation can reduce map construction failures. The other typical applications for multi-map is multi-floor navigation. In this paper, we apply multi-map method for both navigations. The usefulness of the proposed method was confirmed by simulation and actual experiments.