1P1-D03 自己位置認識機能と障害物検出機能の抽象化ミドルウェアの開発 : 移動ロボットOSの実現に向けて(RTミドルウェアとオープンシステム)

概要

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Nowadays, developments of so-called "Home-use robot", or "office-use robot" have been very active. The challenges to realize such robots are: (1)navigation in realistic environment, (2)performing multiple tasks,and (3)tradeoff between their performances and costs. One of solutions for these challenges is customizability for each situation like a personal computer. In this paper, sensory data processing middlewares for a mobile robot are proposed, These are SSM for sensor information sharing, OGMM for obstacle detection, and POET for localization. These middlewares abstracts unified information from multimodal external sensors. This paper illustrates design of these middlewares and experimental results using several external sensors.
一般社団法人日本機械学会の論文
2007-05-11