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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
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee MBE NC  
Conference Date 2012-03-14 - 2012-03-16 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa University 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2012-03-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Robot of prediction and planning system for moving obstacle avoidance at home 
Sub Title (in English)  
Keyword(1) mobile robot  
Keyword(2) Particle Filter  
Keyword(3) moving object  
Keyword(4) sensor  
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1st Author's Name Yasuhiro Taguchi  
1st Author's Affiliation Tamagawa University Graduate school of Engineering (Tamagawa University Graduate school of Engineering)
2nd Author's Name Takayuki Shimotomai  
2nd Author's Affiliation Brain Science Institute, Tamagawa University (Brain Science Institute)
3rd Author's Name Kazuaki Okutani  
3rd Author's Affiliation Tamagawa University College of Engineering (Tamagawa University College of Engineering)
4th Author's Name Yusuke Hayashi  
4th Author's Affiliation Tamagawa University College of Engineering (Tamagawa University College of Engineering)
5th Author's Name Hiroyuki Okada  
5th Author's Affiliation Tamagawa University College of Engineering (Tamagawa University College of Engineering)
6th Author's Name Takashi Omori  
6th Author's Affiliation Tamagawa University College of Engineering (Tamagawa University College of Engineering)
7th Author's Name Yasushi Fukuda  
7th Author's Affiliation Tamagawa University College of Engineering (Tamagawa University College of Engineering)
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Speaker Author-1 
Date Time 2012-03-16 11:30:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2011-183 
Volume (vol) vol.111 
Number (no) no.483 
Page pp.365-369 
#Pages
Date of Issue 2012-03-07 (NC) 


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