位置情報を付加した要所画像による自律移動ロボットの経路教示とナビゲーション Path Teaching and Navigation of a Mobile Robot by Significant Point Images with Information of Locations

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This paper proposes a novel method to easily and effectively teach a mobile robot its path and to navigate it along the instructed path. First, an operator takes pictures at some significant points such as a start point, turning left/right points and a goal point at the teaching stage. At the same time, locations of these significant points are also obtained with a GPS receiver. Then, the operator teaches the robot its path by some simple instructions based on the pictures referred as reference images. Finally, at the autonomous navigation stage, the robot travels along the path with two navigation modes. One of them is landmark-based navigation, that is, the robot recognizes its headings and the significant points by detecting the landmarks indicated in the reference images when the robot is traveling near the significant points. Another mode is GPS-based navigation. The robot is navigated to near the significant points by GPS information when the robot is far from the significant points. Experiment conducted along a 620 meters long path indicates the effectiveness of the proposed method.

収録刊行物

  • システム制御情報学会論文誌  

    システム制御情報学会論文誌 21(7), 226-233, 2008-07-15 

    一般社団法人 システム制御情報学会

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各種コード

  • NII論文ID(NAID)
    10021850474
  • NII書誌ID(NCID)
    AN1013280X
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    13425668
  • NDL 記事登録ID
    9566943
  • NDL 雑誌分類
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL 請求記号
    Z14-195
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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