知能化空間と連携した位置情報相互補完に基づく人間追従ロボットの制御

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概要

• 論文の詳細を見る

• This paper proposes the localization method based on interactive communication between a mobile robot and a networked laser range scanner installed in an intelligent space and achieves human-following control of a mobile robot with the method. Generally, human tracking with cameras or laser range scanners on board the robots has been utilized for control of mobile robots to follow human walking. In addition to human tracking, mobile robots have to perform position estimation simultaneously. There is constraints in measurement for landmark detection or SLAM, because target human walks close to the robot while human following. Then, proposed system consiers to utilize an intelligent environment where sensors are distributed.The proposed system exchanges position and heading information estimated in the mobile robot and the networked laser range scanner with each other. The networked laser range scanner searches and detects target human and the robot based on the position information sent from the robot. The robot receives the detection results from the networked laser range scanner. Then, the estimate position is updated and reference velocities for human-following control are calculated with them. Estimation errors with odometry in the robot and unstable tracking of target in the networked laser range scanner are compensated with this system.In this paper, communication timing between the robot and the networked laser range scanners while human-following is discussed. Human-following experiments are performed and the results are shown.

• 2011-05-01

著者

• 追永 祐大

  明治大学

• 中村 雄一

  明治大学

• 森岡 一幸

  明治大学

関連論文

• 知能化空間と連携した位置情報相互補完に基づく人間追従ロボットの制御
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• 1A2-G18 分散配置したカメラとレーザ測域センサによる人物の三次元追跡
• 1A2-G17 知能化空間における複数の測域センサの分散制御による人物トラッキング
• 1A2-F20 分散配置した測域センサを利用した移動ロボットのSLAM
• 1A2-G06 インテリジェント・スペースにおける分散配置カメラのためのキャリブレーション自動化
• 知能化空間と連携した位置情報相互補完に基づく人間追従ロボットの制御

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