2P2-B04 小型マルチカメラシステムを用いたロボットの全周囲映像提示のためのオンラインシミュレーション開発(サーチ&レスキューロボット・メカトロニクス)

概要

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IRS Soryu is multi trucks robot used for victim search in narrow area. It's difficult for an operator to control the robot using limited field of view image. Authors solve the problem using multi camera images. We developed the multi camera system and achieved the display of detailed and wide field of view image using multi camera image. However, much information is too difficult for human to understand intuitively. Therefore we need the simulator for changing some settings and verifying the method of display repeatedly. We developed the online simulation system which has following requirements; a. Online simulator of multi trucks robot, which considers its dynamics, b. Software frame works for getting multi camera images and transmitting them via socket communication in the simulator, c. Easiness to change some detail settings. Finally, we constructed the graphical user interface that enable human to observe detailed and wide field of view image in surroundings of IRS Soryu.
一般社団法人日本機械学会の論文
2008-06-06