Paper Abstract and Keywords |
Presentation |
2012-03-16 11:30
Robot of prediction and planning system for moving obstacle avoidance at home Yasuhiro Taguchi (Tamagawa University Graduate school of Engineering), Takayuki Shimotomai (Brain Science Institute), Kazuaki Okutani, Yusuke Hayashi, Hiroyuki Okada, Takashi Omori, Yasushi Fukuda (Tamagawa University College of Engineering) NC2011-183 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
Recently various robots at home have been developed. Humans can predict and avoid moving obstacles in the house. It is necessary that robots understand the moving obstacle and predict the future point if they work around the house with humans. For seamless robot system at home, robots should recognize the moving objects and avoid them autonomously. In this study, we propose the robot system that can recognize and predict moving objects using the laser range sensor. Using the particle filter algorithm and view-based template matching, our proposed system predicts moving humans. We developed and evaluated the mobile robot system which is implemented our proposed method into. We developed the robot system that consists of motor control part, recognition part and interface by the OpenRT middleware. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
mobile robot / Particle Filter / moving object / sensor / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 111, no. 483, NC2011-183, pp. 365-369, March 2012. |
Paper # |
NC2011-183 |
Date of Issue |
2012-03-07 (NC) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
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NC2011-183 |
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