著者

三澤 正志 吉田 智章 油田 信一

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.25, no.8, pp.1199-1206, 2007-11-15 (Released:2010-08-25)

参考文献数

9

被引用文献数

1 6

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We developed a smart handcart with autonomous returning function. In the conventional handcarts to carry baggage, a user pushes a handcart with baggages on the way to destination, and then, he also should carry it back without load. The developed handcart is equipped with odometry function and a laser range scanner. It records its trajectory and surrounding environment while going to destination, and it can autonomously return back to the station by retracing the recorded trajectory and environmental information. As feature of the environment to compensate the accumulating error in odometry, the cart uses flat wall and edge of pillar which is extracted by its laser range scanner. Experimental results shows the effectiveness and reliability of the system.

著者

吉田 智章 入江 清 小柳 栄次 友納 正裕

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.47, no.10, pp.493-500, 2011 (Released:2012-01-21)

参考文献数

14

被引用文献数

2 7

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This paper proposes a light-weight navigation platform that consists of gyro-assisted odometry, a 3D laser scanner and map-based localization for human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. The map-based localization is robust and computationally inexpensive by utilizing a particle filter on a 2D grid map generated by projecting 3D points on to the ground. The system uses small and low-cost sensors, and can be applied to a variety of mobile robots in human-scale environments. Outdoor navigation experiments were conducted at the Tsukuba Challenge held in 2009 and 2010, which is an open proving ground for human-scale robots. Our robot successfully navigated the assigned 1-km courses in a fully autonomous mode multiple times.

著者

古田 貴之 吉田 智章 西村 健志 大和 秀彰

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.32, no.2, pp.92-97, 2014 (Released:2014-04-15)

参考文献数

4

被引用文献数

10 10

著者

小柳 栄次 吉田 智章 西村 健志

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.31, no.1, pp.47-48, 2013 (Released:2013-02-17)

被引用文献数

6 5

著者

吉田 智章 大矢 晃久 油田 信一

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.22, no.4, pp.469-477, 2004-05-15 (Released:2010-08-25)

参考文献数

12

被引用文献数

3 4

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A mobile robot can use the walls or the pillars to localize itself when it navigates in indoor environment. However, in open space or outdoor environment there are few easy detectable and stable objects that the robot can use. In this paper, we propose a method for the detection of braille blocks, which are originally used for visually handicapped people, for autonomous mobile robot navigation. To recognize the Braille block, a CCD camera and a laser fan beam projector are used as sensor to detect uneven surface of the blocks. This paper also present the experimental results of simple navigation using the sensor system.

著者

友納 正裕 吉田 智章 入江 清 小柳 栄次

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.30, no.3, pp.262-270, 2012 (Released:2012-04-29)

参考文献数

23

被引用文献数

5 4

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The Tsukuba Challenge is a proving ground for mobile robots, the task of which is autonomous navigatoin along a predefined path of 1km in outdoor environments. We joined the Tsukuba Challenge and achieved the tasks in 2009 and 2010. This paper focuses on the problem analysis and basic design of our navigation system, and presents the design policy and lessons learned in the experiments. Our system consists of gyro-assisted odometry, a roundly-swinging 3D laser scanner, a fish-eye camera, and a localization method using map matching and a particle filter. The integration of these technologies made our system highly reliable to achieve the task.

著者

吉田 智章

巻号頁・発行日

2004

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筑波大学博士 (工学) 学位論文・平成16年3月25日授与 (甲第3546号)