NDLI: The calibration between range sensor and mobile robot, and construction of a obstacle avoidance robot

Content Provider	IEEE Xplore Digital Library
Author	Fukai, H. Mitsukura, Y. Gang Xu
Copyright Year	2012
Description	Author affiliation: Department of Media Technology, College of Information Science and Engineering, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu-shi, Shiga, Japan (Gang Xu) \|\| Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba, Japan (Fukai, H.) \|\| Department of System Design Engineering, Faculty of Science and Technology, Keio University, 3-14-1, Hiyoshi, Yokohama-shi Kouhoku-ku, Kanagawa, Japan (Mitsukura, Y.)
Abstract	Recently, robot that assists a human is desired, because the aging society will come. For example, if there is a robot which avoid a obstacle automatically, it is possible to assist humans. Therefore, we construct a obstacle avoidance robot. In order to achieve a autonomous robot, obstacle avoidance, path planing, and mobile robot control are required. In this study, TOF type range sensor that is a possible to measure the distance is used. Moreover, an obstacle is detected using the distance information acquired by TOF camera. Optimal path is decided by the potential method. When TOF camera is put on a mobile robot, it is a problem that a robot coordinate system differs from the coordinate system of TOF camera. Then, the calibration of a robot and TOF camera is performed by odometry information and estimating the pose between TOF camera and actual environment. In order to verify the practicality of this proposal system, we experiment at room environment with flat floor.
Starting Page	737
Ending Page	742
File Size	310246
Page Count	6
File Format	PDF
ISBN	9781467346047
ISSN	19449445
e-ISBN	9781467346061
e-ISBN	9781467346054
DOI	10.1109/ROMAN.2012.6343839
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-09
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Cameras Mobile robots Vectors Robot vision systems
Content Type	Text
Resource Type	Article

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