書誌事項
- タイトル別名
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- Autonomous Visual Navigation of a Mobile Robot Based on a Human-Guided Experience.
- ユウドウ ニ ヨル イドウ ケイケン ニ モトヅク シカク イドウ ロボット ノ ジリツ ソウコウ
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説明
It is necessary for a robot to have environmental information in order to move autonomously. Although we can usually give a map to the robot, making such a map is quite a tedious work. So we propose a navigation strategy which requires the minimum user assistance. In the method, we first guide a mobile robot to a destination. During this movement, the robot observes the surrounding environment to make a map. Once the map is generated, the robot computes and follows the shortest path to the destination. To realize this navigation strategy, we develop: (1) a method of map generation by integrating multiple observation results considering the uncertainties in observation and motion, and (2) a fast robot localization method which does not use explicit feature correspondence. We also propose an observation planning for efficient autonomous navigation, which takes advantage of human-guided experience. Experimental results using a real robot show the feasibility of the proposed strategy.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 19 (8), 1003-1009, 2001
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204725722240
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- NII論文ID
- 10007546575
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 5978755
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDLサーチ
- Crossref
- CiNii Articles
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可
