Differnt floor traveling control of wheelchair type autonomous mobile robot DREAM-3

カテゴリ: 全国大会

論文No: 3-053

グループ名: 【全国大会】平成19年電気学会全国大会論文集

発行日: 2007/03/15

タイトル(英語): Differnt floor traveling control of wheelchair type autonomous mobile robot DREAM-3

著者名: 黒川 尊史(鳥取大学),Kamita Kihato(鳥取大学),伴藤 浩之(鳥取大学),木村 昭彦(カサタニ),大木 誠(鳥取大学),大北正昭 (鳥取大学)

著者名(英語): Takasi Kurokawa(Tottori University),Kamita (Tottori University),Hiroyuki Bandou(Tottori University),Akihiko Kimura(Kasatani Corp),Makoto Ohki(Tottori University),Masaaki Ohkita(Tottori University)

キーワード: 自律移動ロボット|マニピュレータ|ファジィ制御|環境マップ|画像処理

要約(日本語): Autonomous mobile robot DREAM-3 (D3) was developed using a wheelchair by earlier researchers within our laboratories. The running experiments were curried out within the facilities of senior citizens and disabled two years ago. From the advancement of the research an efficient running of D3 was realized. However, D3 design was based on single floor movement, hence traveling to other floors was impossible.Incorporating the elevator setup facility into D3 design, made its range of action expanded. This paper presents the running control of D3 in front of the elevator. In addition to its design features, a manipulator arm has been installed. Running experiments have been conducted to confirm the expected control actions.

原稿種別: 日本語

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