1A1-E04 屋内動的環境における移動ロボットのための人間行動マップの生成

概要

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In recent years, the robots working in human living space are increasing with development robot technologies. Acquisition of environmental information and human estimation are necessary to control the robots moving in this kind dynamic environment. In this study, we proposed a map generation method which can comprehend dynamic environment with SLAM. During the information acquisition of dynamic environment and the human estimation, dynamic information and static information is extracted from the map generated by SLAM. Then the environmental map in the human living space and the motion map of the human being are generated. The motion map of the human being could be used as information for both motion planting of robots and further estimation of human motion in dynamic environment.
一般社団法人日本機械学会の論文