Identification of types of obstacles for mobile robots |
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Authors: | Yusuke Tamura Yu Murai Hiroki Murakami Hajime Asama |
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Affiliation: | 1. Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
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Abstract: | For service robots coexisting with humans, both safety and working efficiency are very important. In order for robots to avoid
collisions with surrounding obstacles, the robots must recognize obstacles around them. In dynamic environments, not only
currently moving obstacles but also movable obstacles should be recognized. In this paper, three types of obstacles, such
as stationary, movable and moving, are defined, and a method to identify the type of obstacles is proposed. The experiments
using a mobile robot were conducted to evaluate the usefulness of the method. |
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Keywords: | |
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