TY - GEN
T1 - The calibration between range sensor and mobile robot, and construction of a obstacle avoidance robot
AU - Fukai, Hironobu
AU - Mitsukura, Yasue
AU - Xu, Gang
PY - 2012/12/14
Y1 - 2012/12/14
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84870785909&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84870785909&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2012.6343839
DO - 10.1109/ROMAN.2012.6343839
M3 - Conference contribution
AN - SCOPUS:84870785909
SN - 9781467346054
T3 - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
SP - 737
EP - 742
BT - 2012 IEEE RO-MAN
T2 - 2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
Y2 - 9 September 2012 through 13 September 2012
ER -