移動ロボットによる歩行者観察に基づく地図作成と自律移動のための一手法(機械力学,計測,自動制御)

概要

論文の詳細を見る
It is fundamental problem for mobile robots to detect 2D free regions where they can move by local sensing. In many indoor environments, there may be lots of objects, such as chairs, desks, etc., and much portion of the free region can not be directly detected. To resolve this problem, we have developed a method for detecting free regions in which a robot visually tracks walking human, and regards 2D regions swept by the human as free regions. Based on this idea, we propose a method for building a map of obstacles and free regions, and navigation with an distance transform based path planning algorithm. The free regions were obtained reliably by combining stereo vision and visual tracking techniques.
一般社団法人日本機械学会の論文
2004-05-25