2A1-O14 屋内環境における移動ロボットのための人間活動状態の推定と人間行動マップの構築(移動ロボットの自己位置推定と地図構築)

概要

論文の詳細を見る
In recent years, robots working in human living space with human-robot interaction are actively researched. To these robots, it is important to perform environmental cognition including to estimate human states around the robots and to have environment map for autonomous motion of the robots. In this research, we focus on building maps of dynamic environment. In this paper, we proposed Human Motion Map, a high-dimensional map, which incorporating human states information into results of conventional SLAM. By using the Human Motion Map, proposed algorithm provides precise motion planning and further human estimation for robots by considering the uncertainties of environment and human state estimation.
一般社団法人日本機械学会の論文
2011-05-26