センサの死角を考慮して安全な速度制御と最適移動経路の選択を行う自律移動ロボット

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2015/04/01

タイトル(英語): Autonomous Mobile Robot Selecting Optimum Path with Safe Speed Control in Consideration of Blind Area of Vision Sensors

著者名: 黒坂　翼（電気通信大学大学院情報理工学研究科），金子　正秀（電気通信大学大学院情報理工学研究科）

著者名(英語): Tsubasa Kurosaka (The University of Electro-Communications, Graduate School of Informatics and Engineering), Masahide Kaneko (The University of Electro-Communications, Graduate School of Informatics and Engineering)

キーワード: 自律移動ロボット，死角，速度制御，移動経路　　Autonomous Mobile Robot，Blind Area，Speed Control，Moving Path

要約(英語): This paper proposes a speed control method to move an autonomous mobile robot safely under the environment where blind areas exist. Sensors like a LRF or an optical camera cannot detect the areas in the backside of walls, pillars or objects. When a person suddenly appears from these blind areas, the mobile robot is very likely to collide with him/her, if its speed reduction performance is limited. In this paper the safety speed of robot is carefully controlled using the distance information between the robot and the blind areas as well as obstacles. Meanwhile, the optimum path is generated to minimize the cost of moving time, considering the lengthened time cost caused by speed control process. The effectiveness of the proposed method is confirmed by both the computer simulation and the experiment using a real robot.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.135 No.4 （2015） 特集：知覚情報技術の最前線

本誌掲載ページ: 356-364 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/135/4/135_356/_article/-char/ja/