色標識を用いた移動ロボットの絶対位置・相対位置計測の研究 : 第1報, 色標識の構成と基礎実験

概要

論文の詳細を見る
We propose a color signboard for indoor mobile robot (known as AGV in factories) localization. The signboards are placed in the environment as landmarks to locate the position of the robot. They are also attached to each robot for localization relative to other robots. Each signboard consists of highlighted areas illuminated by a back-light and color stripes. When the camera on a robot observes the signboard, the bright information in the image is processed to detect the signboard. The hue information is also used to identify the signboard. Subsequently, the distance and the angle between the camera and the signboard are calculated by triangulation. If other robots or obstacles partially conceal the signboard from view, the camera can still determine the position. Fundamental experiments demonstrate the effectiveness of the proposed method.
一般社団法人日本機械学会の論文
1996-11-25