2P1-E15 Control Strategy of Mobile Robot Based on Intelligent Space
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概要
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In this paper the problem mobile robot control in the Intelligent Space (iSpace) is analyzed. The mobile robot in iSpace is used as a mean of offering physical services to users. On the other hand, using the distributed sensors in iSpace offers advantages in standard robot control tasks. Advantages in tasks such as localization, mapping and path planning are explained in this paper. Furthermore, an implementation based on an external ultrasound localization system is described. The implementation uses an Extended Kalman filter to fuse information from the ultrasound system and robot wheel encoders. The presented results of experiments conducted in our laboratory confirm the advantages of the Intelligent Space approach.
- 一般社団法人日本機械学会の論文
著者
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BRSCIC Drazen
Institute of Automatic Control Engineering (LSR) at the Technische Universitat Munchen
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Brscic Drazen
Institute Of Industrial Science The University Of Tokyo
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Hashimoto Hideki
Institute Of Industrial Science The University Of Tokyo
関連論文
- Development of a single-master multi-slave tele-micromanipulation system
- Position estimation of a mobile robot using images of a moving target in intelligent space with distributed sensors
- A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems
- Intelligent Space-concept and contents
- Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor
- Surface Deformation Displays for Virtual Environment Using the Fuzzy Model(Human Communication I)
- Scaled teleoperation system for nano-scale interaction and manipulation
- Operability Evaluation of Shared Controlled Multiple Cooperative Robots (特集 相互作用と賢さ)
- Preface
- 2P1-E14 Cognitive Vision Inspired Feature Understanding in Intelligent Space
- 2A2-K05 Retina Inspired Edge Detection for Robot Vision
- 1A1-B20 An Implementation of Multi-robot Micromanipulation System over Delayed Network
- 研究解説 Physical Agent in Intelligent Space (小特集 Roboticsの展開)
- 2P1-E15 Control Strategy of Mobile Robot Based on Intelligent Space
- Effect of Scaling on the Performance and Stability of Teleoperation Systems Interacting with Soft Environments
- Tracking of Humans and Robots Using Laser Range Finders