Geometry-independent indoor motion planning using floor maps as prior information
Kazutoshi FUKAYA, Yoji KURODA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2022
In this study, we propose a route planning method using floor maps such as facility information maps as prior information. The floor map does not provide geometric information because the details are omitted and in some cases the ratio of height and width is inaccurate. Therefore, we extract the connection relations of the passages from the floor map as a node graph, and calculate the shortest path from the specified current location to the destination based on the node graph.We use LiDAR to detect the direction and branching of the corridor in the real environment, and then follow the calculated path.