視覚センサとレンジセンサとの協調による移動ロボットのナビゲーション

概要

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This paper describes a navigation method of a mobile robot based on cooperation of sensors. Among various sensors, vision is expected to play a very important role in control of intelligent mobile robot. In this paper firstly a method is presented to guide the robot in real time by using visual sensor. The mobile robot is controlled to follow visual sub-goal by visual feedback. The robot can detect unknown obstacles and make avoiding paths automatically. Obstacle avoidance based on visual information is then simulated. The result of the simulation shows that navigation using only visual information has several problems, because it is impossible to get the environmental information close to the robot by visual sensor. In order to solve those problems, visual sensor and range sensors such as ultra-sonic sensors, are cooperated together. It is important to integrate the information of multiple kinds of sensors. A control method, which utilizes the information fusion between vision and range sensors, is proposed. The validity of the method is verified by simulations and experimental results.
一般社団法人日本ロボット学会の論文