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 : HALASのMap Correspondence Moduleにおけるエラーリカバリー移動実験

概要

論文の詳細を見る
We present a vision-based navigation system which has an error recovery function for an autonomous mobile robot. A misrecognition of the landmark causes the robot to mislocate itself. When this happens. the robot is unable to perform its primary objective. In order to solve this kind of problem, we have proposed a hierarchical control architecture. "HALAS" (Hierarchical Adaptive and Learning Architecture System). HALAS consists of modules which are arranged hierarchically and each module represents a single function of this robot. When one module fails in its aim, the upper module detects the error and recovers from it using other useful information from its knowledge data base. In this paper, we show experimentally that the robot gets a heigher reliability in autonomous mobility because the Map Correspondence Module finds the error which has been caused by an Anemo Perception Module (landmark recognition module) and it corrects the error utilizing its map information.
社団法人日本機械学会の論文
1997-09-25