分散視覚を用いた人間ロボット協調ナビゲーション

概要

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This paper describes a human-robot cooperation system which enables robust behaviors of robots in a real world by combining humans ability of recognition, inference and decision with robots autonomy. In previous systems, interactions between operators and robots are designed by programmers. We consider that the interactions should dynamically change through iterative process of human-robot cooperation. In the system, the robots obtain autonomous behaviors by memorizing humans instructions and obtain autonomous behaviors for behaving in complex environments. We have designed a system which consists of vision guided mobile robot, several cameras embedded in the environment and visual information interface with an idea of layered interaction structure, and we have experimented in a town model. We call this system <I>DVS<SUB>coop</SUB></I> (Distributed Vision System for human-robot cooperation) .
社団法人日本ロボット学会の論文
1998-10-15