Stabilization of the Autonomous Driving for the Illuminance Measurement Robot

Abstract

In the field of construction industry, illuminance measurement is expected to be automated using mobile robots. However, the present illuminance measurement robot is not able to execute the autonomous driving to the end, especially when operating over time or operating in a large indoor space. This is mainly caused by the distortion which emerges on the environment map. In this paper, we propose two methods to prevent the distortion of the environment map. The first method is a way to check the environment map in real time by comparing with the architectural drawing as a scale and eliminate the distortion if detected. The second method is a way to improve the fitness function used in the evolutionary computation for localization. Our results show that our methods can prevent the distortion on the environment map and contribute to stabilize the autonomous driving of the illuminance measurement robot. We conclude that our method is a promising technique to accomplish the illuminance measurement autonomously.