全方位画像列と移動量の記録による移動ロボットの教示再生ナビゲーション

• 唐 立新

  華中科技大学 (中国) 機械科学&工程学院

• 油田 信一

  筑波大学機能工学系

書誌事項

タイトル別名

• Teaching and Playing-back Navigation for Indoor Mobile Robots by Recording of Omni-directional Image Sequence and Robot's Motion
• ゼンホウイ ガゾウレツ ト イドウリョウ ノ キロク ニ ヨル イドウ ロボット ノ キョウジ サイセイ ナビゲーション

抄録

This paper presents a method of mobile robot's autonomous navigation in indoor environments by a teaching and playing-back scheme using memories of an ounri-directional image sequence and robot's motion. The robot memorizes a sequence of environmental images and robot's poses during a teaching stage. And in the course of a playing-back stage. itt calculates the robot's position difference from the memorized and currently taken images, and then decides a trajectory to track the taught route, so that it can navigate autonomously to follow the given path to the destination. An omni-directional image sensor is used, and vertical edges arc extracted as feature lines in the environment for calculation of robot's position difference. The experimental results show the effectiveness of this method in corridors of bulidings.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 21 (8), 883-892, 2003

  一般社団法人 日本ロボット学会

キーワード

• Navigation
• Teaching and Playing-Back
• Omni-Directional Image

詳細情報

• CRID: 1390001204726498944
• NII論文ID: 10012538468
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.21.883
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 6764529
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6764529
• 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