A. Background of indication method

A. Background of indication method

Robots move around and inside buildings to support people or to do their tasks.

Table II shows several robot systems and conditions that the robots move around.

AGV(Automatic Guided Vehicle) system plays an important role parts supply in factories where environments are well organized for robots to move automatically.

On the other hand, rescue robots are operated under disaster areas and they are operated manually to search victims to save their lives at disaster area where there is no map.

Making a map is one of tasks for rescue robots.

Service robot lies midway between AGV and rescue robots, because the maps of the rooms are given however the conditions are assumed to change.

The environments of temporary shelters are severer than at homes.

The given maps are roughly handwritten and robots are assumed to move around and go to goals with help of people.

The above requirement for robots to move at