Paper Info
Title
Human Observation Based Mobile Robot Navigation In Intelligent Space
Abstract
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.
Year
DOI
Venue
2006
10.1109/IROS.2006.281808
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12
Keywords
Field
DocType
Intelligent Space, environment design for mobile robots, human observation
Computer vision,Social robot,Robot control,Extended Kalman filter,Computer science,Control engineering,Kalman filter,Artificial intelligence,Encoder,Mobile robot navigation,Mobile robot,Positioning system
Conference
Citations 
PageRank 
References 
5
0.61
8
Authors
2
Name
Order
Citations
PageRank
Takeshi Sasaki1161.40
Hideki Hashimoto26810.43