著者

荻野 貴司 秋元 俊成 友納 正裕 松元 明弘

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2008, pp._2P2-C05_1-_2P2-C05_3, 2008

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For the future cohabitation of humans and robots, we are making research on home use robots, where positions of robot, human and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the performance of the map building by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We implemented the motion extraction algorithm for the human following application.

著者

宮内 雄志 荻野 貴司 秋元 俊成 松元 明弘

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2009, pp._1A1-E15_1-_1A1-E15_3, 2009

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We are involved in the research into navigation of mobile robots for indoor and outdoor use. In order to localize the position of a mobile robot, 3D map rather than 2D map is preferred especially for outdoor application. In order to build 3D map of an unknown environment, we combined two laser scanners for different orientation, and obtained 3D environmental information .We applied 2D scan matching method for the horizontal scan information, and the other scan information is incorporated for 3D map building. We evaluated the performance of scan matching method for the translation and rotation motion of our mobile robot, and then conducted 3D map building experiments in the university campus and confirmed that 3D map was obtained in a quite enough resolution.

著者

荻野 貴司 秋元 俊成 友納 正裕 松元 明弘

出版者

一般社団法人 日本機械学会

雑誌

IIP情報・知能・精密機器部門講演会講演論文集

巻号頁・発行日

vol.2008, pp.88-89, 2008

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For the future cohabitation of humans and robots, we are making research on home use robots, where human motion and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the map building capability by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We confirmed the adaptability of scan matching algorithm to the human motion recognition which is the key to the human following by robots.