知的車椅子のための歩行者の顔の観察に基づく衝突回避 Collision Avoidance by Observing Pedestrians' Faces for Intelligent Wheelchairs

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抄録

With the increase in the number of senior citizens, there is a growing demand for human-friendly wheelchairs as mobility aids. One of the main issues in the robotic wheelchair research is autonomous obstacle avoidance for safety. However, this is difficult because most of moving obstacles in the real world are human beings. They sometimes change their motion abruptly. This paper presents an intelligent wheelchair that can avoid collision with such human pedestrians safely and comfortably for each other. We assume that the information whether or not a pedestrian has noticed the wheelchair and which direction he/she wants to go can appear in the face direction. Thus our intelligent wheelchair is continuously observing the pedestrian's face in its front area, realizing smooth passing by changing its collision avoidance strategy based on the face information and the range data from the ultrasonic sensors. Experimental results show the effectiveness and comfortableness of the proposed method.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 20(2), 84-91, 2002-03-15

    The Robotics Society of Japan

参考文献:  11件中 1-11件 を表示

被引用文献:  6件中 1-6件 を表示

各種コード

  • NII論文ID(NAID)
    10008213132
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    6107788
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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