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

Hironobu Fukai, Yasue Mitsukura, Gang Xu

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2012 IEEE RO-MAN
ホスト出版物のサブタイトルThe 21st IEEE International Symposium on Robot and Human Interactive Communication
ページ737-742
ページ数6
DOI
出版ステータスPublished - 2012 12月 14
イベント2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 - Paris, France
継続期間: 2012 9月 92012 9月 13

出版物シリーズ

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

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 人工知能
  • 人間とコンピュータの相互作用

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