サービス用知能移動ロボットの開発　第２報　　視覚センサを用いた自己位置認識システム

• 田中 孝之

• 山藤 和男

• 渡邉 浩樹

• 片江 毅

書誌事項

タイトル別名

• Development of Intelligent Mobile Robot for Service Use. 2nd Report. Self Position Detection System Using a Visual Sensor.
• サービスヨウ チノウ イドウ ロボット ノ カイハツ ダイ2ホウ シカク センサ オ モチイタ ジコ イチ ニンシキ システム

抄録

We have developing an intelligent mobile robot for service use which can be utilized as a "secretary or helper robot" in day time and "security guard or maintenance including floor-cleaning robot" in night in office buildings. Since the service robot works or moves autonomously living together with human being in office environments, it must be able to recognize its absolute position and environment. In this paper, we proposed two types of self positioning method based on a visual sensor. One is the global self positioning (GSP) which is realized by recognition of a room number plate. The another is Iocal self positioning (LSP) in which the position is calculated by the relation between the robot and three lighting landmarks, such as two exit lamps and a fire hydrant lamp in corridors. Experimental results show that proposed methods are very effective in self positioning for the autonomous mobile robot.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 64 (628), 4702-4709, 1998

  一般社団法人 日本機械学会

キーワード

• Mobile Robot
• Self Position Detection
• CCD Camera
• Lighting Landmarks

詳細情報

• CRID: 1390001206328882048
• NII論文ID: 130004233085
• NII論文ID: 110002384107
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.64.4702
• ISSN: 18848354
• ISSN: 03875024
• ISSN: http://id.crossref.org/issn/00290270
• NDL書誌ID: 4653488
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4653488
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/64/628/64_628_4702/_pdf
• 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