| Paper Abstract and Keywords |
| Presentation |
2014-02-22 14:30
Autonomous Mobile Robot Selecting Optimum Path Based on Safe Speed Control Considering Blind Area of Vision Sensors
Tsubasa Kurosaka, Masahide Kaneko (UEC) |
| Abstract |
(in Japanese) |
(See Japanese page) |
| (in English) |
This paper proposes a speed control method to move an autonomous mobile robot safely under the environment where blind areas exist. Sensors like LRF or camera cannot detect the areas in the backside of walls, pillars or objects. When a person suddenly appears from these blind areas, the mobile robot is very likely to collide with him/her, if its speed reduction performance is limited. In this paper the safety speed of robot is gravely controlled using the distance information between the robot and the blind areas as well as obstacles. Meanwhile, the optimum path is generated to minimize the cost of moving time, considering the lengthened time cost caused by speed control process. The effectiveness of the proposed method is confirmed by both the simulation and the experiment using a real robot. |
| Keyword |
(in Japanese) |
(See Japanese page) |
| (in English) |
Autonomous Mobile Robot / Blind Area / Speed Control / Path Planning / / / / |
| Reference Info. |
ITE Tech. Rep., vol. 38, no. 9, ME2014-38, pp. 37-40, Feb. 2014. |
| Paper # |
ME2014-38 |
| Date of Issue |
2014-02-15 (ME) |
| ISSN |
Print edition: ISSN 1342-6893 |
| Download PDF |
|
| Conference Information |
| Committee |
ME |
| Conference Date |
2014-02-22 - 2014-02-22 |
| Place (in Japanese) |
(See Japanese page) |
| Place (in English) |
Kanto Gakuin Univ. |
| Topics (in Japanese) |
(See Japanese page) |
| Topics (in English) |
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| Paper Information |
| Registration To |
ME |
| Conference Code |
2014-02-ME |
| Language |
Japanese |
| Title (in Japanese) |
(See Japanese page) |
| Sub Title (in Japanese) |
(See Japanese page) |
| Title (in English) |
Autonomous Mobile Robot Selecting Optimum Path Based on Safe Speed Control Considering Blind Area of Vision Sensors |
| Sub Title (in English) |
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| Keyword(1) |
Autonomous Mobile Robot |
| Keyword(2) |
Blind Area |
| Keyword(3) |
Speed Control |
| Keyword(4) |
Path Planning |
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| 1st Author's Name |
Tsubasa Kurosaka |
| 1st Author's Affiliation |
The University of Electro-Communications (UEC) |
| 2nd Author's Name |
Masahide Kaneko |
| 2nd Author's Affiliation |
The University of Electro-Communications (UEC) |
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| Speaker |
Author-1 |
| Date Time |
2014-02-22 14:30:00 |
| Presentation Time |
15 minutes |
| Registration for |
ME |
| Paper # |
ME2014-38 |
| Volume (vol) |
vol.38 |
| Number (no) |
no.9 |
| Page |
pp.37-40 |
| #Pages |
4 |
| Date of Issue |
2014-02-15 (ME) |