2A1-E10 移動体のためのランドマーク追従システムの構築と実システムへの適応(移動ロボットのための視覚)

概要

論文の詳細を見る
Environment data is most important information for the movement of mobile robot, and it has much uncertainty because of measurement and odometry errors. Therefore mobile robot has to get environmental information during its travel frequently, and landmark and its position provide one of the most important information. However those system has much calculation cost and is not strong enough against natural object.In this paper, proposed measurement method, which is visual tracking and measuring of landmark by using Mean-shift algorithm, is introduced and applied to our rover testbed and evaluated with experimental results of proposed Command Path Compensation method, which is the adaptation mechanism of operator's path command to actual environment.
一般社団法人日本機械学会の論文
2008-06-06