自律移動車椅子ロボット実験システムの開発

概要

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Since early 2000's, an autonomous wheelchair robot system for supporting handicapped people has been developed at the author's laboratory. The wheelchair robot was equipped with desktop PC, IR and Ultrasonic sensors. In addition, the control programs have been developed such that they can cooperate with commercial software Webots. Recently, the system has been renewed in order to use micro computer boards with embedded Linux which can run open-source robot control software Player/Stage/Gazebo and to use Laser Range Finder.In this report, the authors describes some parts of the renewal works, they are, (l) development of motor control software which can run with PSG. (2) modeling of the measurement error of LRF and implementation on simulation software. Developed softwares and models are evaluated by experiments.
2010-09-30