TY - GEN
T1 - Human observation based mobile robot navigation in intelligent space
AU - Sasaki, Takeshi
AU - Hashimoto, Hideki
PY - 2006
Y1 - 2006
N2 - In this paper, we investigate a mobile robot navigation system which can localize the mobile robot correctly and navigate based on observation of human walking in order to operate in the human shared space with minimal disturbance to humans. To realize this system, we utilize many intelligent devices embedded in the environment. The human walking paths are obtained from distributed vision systems and frequently used paths in the environment are extracted. The mobile robot navigation based on observation of human is also performed with the support of the system. The position and orientation of the mobile robot are estimated from wheel encoder and 3D ultrasonic positioning system measurement data using extended Kalman filter. The system navigates the mobile robot along the frequently used paths by tracking control.
AB - In this paper, we investigate a mobile robot navigation system which can localize the mobile robot correctly and navigate based on observation of human walking in order to operate in the human shared space with minimal disturbance to humans. To realize this system, we utilize many intelligent devices embedded in the environment. The human walking paths are obtained from distributed vision systems and frequently used paths in the environment are extracted. The mobile robot navigation based on observation of human is also performed with the support of the system. The position and orientation of the mobile robot are estimated from wheel encoder and 3D ultrasonic positioning system measurement data using extended Kalman filter. The system navigates the mobile robot along the frequently used paths by tracking control.
KW - Environment design for mobile robots
KW - Human observation
KW - Intelligent space
UR - http://www.scopus.com/inward/record.url?scp=34250638209&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250638209&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.281808
DO - 10.1109/IROS.2006.281808
M3 - Conference contribution
AN - SCOPUS:34250638209
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1044
EP - 1049
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -