文章基本信息

标题：同行者との相対的位置関係を考慮した日常環境下でのロボットの自律的移動
本地全文：下载
作者：高橋和也 ; 金子正秀
期刊名称：映像情報メディア学会誌
印刷版ISSN：1342-6907
电子版ISSN：1881-6908
出版年度：2011
卷号：65
期号：10
页码：1452-1457
DOI：10.3169/itej.65.1452
出版社：The Institute of Image Information and Television Engineers
摘要：Two people usually walk through a corridor in a parallel position. However, they spontaneously switch their positions from the parallel to the cascade position when they pass oncoming people. We propose a method for enabling a robot to switch the parallel and the cascade positions autonomously with the movement of oncoming people and obstacles when it moves with a user in a daily environment. The robot uses two laser range finders to detect walls, the user's position, as well as surrounding people and obstacles. It autonomously decides whether to go on ahead or to give way to the user. Experimental results using a robot in a daily environment show that our method was effective.
关键词：自律移動ロボット;並走;縦走;自律的切り替え;レーザレンジファインダ