2013 Fiscal Year Final Research Report
Dependable environment sensing system for personal mobility robot
| Project/Area Number |
23560305
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Doshisha University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
SUGANUMA Naoki 金沢大学, 機械工学系, 講師 (50361978)
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| Co-Investigator(Renkei-kenkyūsha) |
TAKAHASHI Kazuhiko 同志社大学, 理工学部, 教授 (90332808)
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| Project Period (FY) |
2011 – 2013
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| Keywords | パーソナルモビリティ / 移動ロボット / マルチロボット / 移動物体追跡 / レーザスキャナ / センサフュージョン / ベイズフィルタ |
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| Research Abstract |
As a fundamental study to achieve safe and comfortable mobility using personal mobility robots and devices for the disabled and elderly, we (1)studied in tracking of moving objects, such as people, cars, and bicycles, by fusing sensor data from multiple robots located in vicinity, even in environments where occlusions often occur, (2)improved the dependability of the tracking system so that it can maintain accurate tracking even when sensor anomalies occurs, and (3)evaluated the proposed tracking system through simulations and experiments using mobile robots’ platform equipped with laser scanner.
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