2P2-C05 レーザレンジセンサ情報によるローカルマップを用いた移動ロボットの人間追従(移動ロボットの自己位置推定と地図構築)

概要

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For the future cohabitation of humans and robots, we are making research on home use robots, where positions of robot, human and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the performance of the map building by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We implemented the motion extraction algorithm for the human following application.
2008-06-06