屋内自律移動ロボットのための環境の特徴的方位の検出手法

• 阪東 茂

  Graduate School of Systems and Information Engineering, University of Tsukuba

• 油田 信一

  Department of Electrical Engineering, Shibaura Institute of Technology

• 坪内 孝司

  Graduate School of Systems and Information Engineering, University of Tsukuba

書誌事項

タイトル別名

• Dominant Direction Detection using the Characteristics of Indoor Environment Shape for Autonomus Mobile Robots
• オクナイ ジリツ イドウ ロボット ノ タメ ノ カンキョウ ノ トクチョウテキ ホウイ ノ ケンシュツ シュホウ

抄録

The current orientation estimation is the principal task for mobile robots. We have been developing the orientation estimation method for indoor mobile robots, using the properties of the ordinary building structure, which we can assume that most of walls and furnitures are arranged in parallel or perpendicular to the dominant direction. Based on this assumption, robots can detect the characteristic geometry of environment efficiently. In this paper, we propose two kinds of methods to find the dominant direction of the building from the surrounding range data based on these characteristics, to estimate the orientation of the robot by the scanned range data. And we present the results of experiments to verify the effectiveness of the proposed methods.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 31 (3), 310-318, 2013

  一般社団法人 日本ロボット学会

キーワード

• Mobile Robot
• Indoor Environment
• Direction Measurement
• Power Spectrum of Scan-data

詳細情報

• CRID: 1390001204728126848
• NII論文ID: 10031162056
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.31.310
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 024652883
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I024652883
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可