The calibration between range sensor and mobile robot, and construction of a obstacle avoidance robot

Hironobu Fukai, Yasue Mitsukura, Gang Xu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Recently, robot that assists a human is desired, because the aging society will come. For example, if there is a robot which avoid a obstacle automatically, it is possible to assist humans. Therefore, we construct a obstacle avoidance robot. In order to achieve a autonomous robot, obstacle avoidance, path planing, and mobile robot control are required. In this study, TOF type range sensor that is a possible to measure the distance is used. Moreover, an obstacle is detected using the distance information acquired by TOF camera. Optimal path is decided by the potential method. When TOF camera is put on a mobile robot, it is a problem that a robot coordinate system differs from the coordinate system of TOF camera. Then, the calibration of a robot and TOF camera is performed by odometry information and estimating the pose between TOF camera and actual environment. In order to verify the practicality of this proposal system, we experiment at room environment with flat floor.

Original languageEnglish
Title of host publication2012 IEEE RO-MAN
Subtitle of host publicationThe 21st IEEE International Symposium on Robot and Human Interactive Communication
Pages737-742
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 14
Event2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 - Paris, France
Duration: 2012 Sep 92012 Sep 13

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Other

Other2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
CountryFrance
CityParis
Period12/9/912/9/13

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Fukai, H., Mitsukura, Y., & Xu, G. (2012). The calibration between range sensor and mobile robot, and construction of a obstacle avoidance robot. In 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication (pp. 737-742). [6343839] (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2012.6343839