Topometric Navigation Considering Movable Objects

Shunsuke Mochizuki, Ayanori Yorozu, Masaki Takahashi

研究成果: Conference contribution

抄録

Recently, the demand for mobile manipulator-type human support robots has been increasing. Human support robots recognize the surrounding environment using a previously generated environmental map and perform navigation, such as localization and path planning. Conventional environment maps do not consider characteristics of objects and do not have any option to move an object to clear a path making it difficult for robots to move efficiently when an object is placed on their path. In this study, we propose topological navigation that uses a topological map based on sensing information and representing a path that robots can pass, and a metric map based on geometrical information of objects and representing the presence of objects. Consequently, if necessary, it is possible for robots to move a movable object to clear the passage and realize efficient movement in living environments.

本文言語English
ホスト出版物のタイトルIntelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
編集者Marcelo H. Ang Jr, Hajime Asama, Wei Lin, Shaohui Foong
出版社Springer Science and Business Media Deutschland GmbH
ページ87-97
ページ数11
ISBN(印刷版)9783030958916
DOI
出版ステータスPublished - 2022
イベント16th International Conference on Intelligent Autonomous Systems, IAS-16 2020 - Virtual, Online
継続期間: 2021 6月 222021 6月 25

出版物シリーズ

名前Lecture Notes in Networks and Systems
412 LNNS
ISSN(印刷版)2367-3370
ISSN(電子版)2367-3389

Conference

Conference16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
CityVirtual, Online
Period21/6/2221/6/25

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 信号処理
  • コンピュータ ネットワークおよび通信

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