S151021 移動ロボットによる施設内の巡回警備 : 単一固定測域センサによる走行中の障害物検知と防火扉の開閉領域検査([S15102]人の生活を支援するロボットシステム(2))

概要

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This paper describes about the navigation system and the system that confirms whether there is an object to hinder the opening and closing of the fire door by using single fixed LRS (Laser Range Sensor). Our approach is to (1) give the map to the robot about the open-close area of the fire door beforehand and patrol indoor environment by meandering which allows to recognize surroundings in 3D and helps to avoid obstacles, (2) confirms if there is an object to hinder opening and closing of the fire door by checking if the ranging data taken from LRS in an open-close area exists. The basic experimental result shows it is possible to navigate the robot to the fire door and detect the obstacles which hinder opening and closing of the fire door.
一般社団法人日本機械学会の論文
2011-09-11