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 publicationProceedings - IEEE International Workshop on Robot and Human Interactive Communication
Pages737-742
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 - Paris, France
Duration: 2012 Sep 92012 Sep 13

Other

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

Fingerprint

Collision avoidance
Mobile robots
Calibration
Robots
Cameras
Sensors
Aging of materials
Experiments

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

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 Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (pp. 737-742). [6343839] https://doi.org/10.1109/ROMAN.2012.6343839

The calibration between range sensor and mobile robot, and construction of a obstacle avoidance robot. / Fukai, Hironobu; Mitsukura, Yasue; Xu, Gang.

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2012. p. 737-742 6343839.

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

Fukai, H, Mitsukura, Y & Xu, G 2012, The calibration between range sensor and mobile robot, and construction of a obstacle avoidance robot. in Proceedings - IEEE International Workshop on Robot and Human Interactive Communication., 6343839, pp. 737-742, 2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012, Paris, France, 12/9/9. https://doi.org/10.1109/ROMAN.2012.6343839
Fukai H, Mitsukura Y, Xu G. The calibration between range sensor and mobile robot, and construction of a obstacle avoidance robot. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2012. p. 737-742. 6343839 https://doi.org/10.1109/ROMAN.2012.6343839
Fukai, Hironobu ; Mitsukura, Yasue ; Xu, Gang. / The calibration between range sensor and mobile robot, and construction of a obstacle avoidance robot. Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2012. pp. 737-742
@inproceedings{c4f5daab5020460fa4d125943b215589,
title = "The calibration between range sensor and mobile robot, and construction of a obstacle avoidance robot",
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.",
author = "Hironobu Fukai and Yasue Mitsukura and Gang Xu",
year = "2012",
doi = "10.1109/ROMAN.2012.6343839",
language = "English",
isbn = "9781467346054",
pages = "737--742",
booktitle = "Proceedings - IEEE International Workshop on Robot and Human Interactive Communication",

}

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

Y1 - 2012

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

SP - 737

EP - 742

BT - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

ER -