Evaluation of Efficiency of Distributed Map Management by Intelliget Data Carriers

摘要

In this paper, we propose a quantitative evaluation algorithm of task execution by autonomous mobile robots. We have developed a device called “Intelligent Data Carrier (IDC)” which enables local communication and data storage in an environment. Based on simple Malkov model, we propose a function to evaluate effect of layout of the IDCs which provide local map information to autonomous mobile robots. The proposed algorithm arranges a map of environment in which robots works to express robot motions driven by local map information. We realize actual experimetal system of autonomous mobile robot by the IDC system. We verify effectiveness of the proposed algorithm by simulations and experiments.