Design Method for Distributed Map Management Systems by Intelligent Data Carriers
Katsumi Konishi, Daisuke Kurabayashi, Hajime Asama, Seiichi Shin · IEEJ Transactions on Electronics Information and Systems · 2000
This paper focuses on navigation systems for autonomous robots by using distributed map management systems, which are realized by putting "Intelligent Data Carrier (IDC)" in an environment.This paper pro vides the mathematical model describing the behavior of an autonomous robot based on a stochastic model and proposes the evaluaiton method for an effect of layout of the IDCs.The IDCs arrangement problem is formulated based on the mathematical model.This problem is combinatorial problem and difficult to solve.In order to overcome combinatorial complexity, the relaxation problem is introduced.This paper provides the design method for IDCs arrangement problem using the relaxed problem.A numerical example shows an optimal arrangement of IDCs can be obtained by using the provided method.