自律移動ロボットの視覚によるナビゲーションシステム : 階層形ナビゲーションシステムHALASの提案とエラーリカバリー移動実験

概要

論文の詳細を見る
The role of a robot is to save money and manpower in the real world. When the robot accomplishes this role to realize an autonomous function, unification of the system is a central issue. Hence, it is a subject to construct the control architecture as an unified method of intelligent control. Some research works about the error recovery ststem are carried out on manipulators, manufacturing systems, computer networks and so on. However, the hierarchical error recovery system has not been studied so much for autonomous mobile robots. In this paper, we propose a hierarchical control architecture HALAS (Hierarchical Adaptive and Learning Architecture System) as a control architecture for an autonomous mobile robot. The main feature of HALAS is the hierarchical error recovery function. We applied HALAS to an air conditioning equipment inspection robot. The validity of the proposed system is shown through some experimental results.
社団法人日本機械学会の論文
1997-07-25