Development of a guide-dog robot: Leading and recognizing a visually-handicapped person using a LRF

Shozo Saegusa, Yuya Yasuda, Yoshitaka Uratani, Eiichiro Tanaka, Toshiaki Makino, Jen Yuan Chang

研究成果: Article

9 引用 (Scopus)

抄録

A conceptual Guide-Dog Robot prototype to lead and to recognize a visually-handicapped person is developed and discussed in this paper. Key design features of the robot include a movable platform, human-machine interface, and capability of avoiding obstacles. A novel algorithm enabling the robot to recognize its follower's locomotion as well to detect the center of corridor is proposed and implemented in the robot's human-machine interface. It is demonstrated that using the proposed novel leading and detecting algorithm along with a rapid scanning laser range finder (LRF) sensor, the robot is able to successfully and effectively lead a human walking in corridor without running into obstacles such as trash boxes or adjacent walking persons. Position and trajectory of the robot leading a human maneuvering in common corridor environment are measured by an independent LRF observer. The measured data suggest that the proposed algorithms are effective to enable the robot to detect center of the corridor and position of its follower correctly.

元の言語English
ページ(範囲)194-205
ページ数12
ジャーナルJournal of Advanced Mechanical Design, Systems and Manufacturing
4
発行部数1
DOI
出版物ステータスPublished - 2010
外部発表Yes

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Range finders
Robots
Lasers
Trajectories
Scanning
Sensors

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

これを引用

Development of a guide-dog robot : Leading and recognizing a visually-handicapped person using a LRF. / Saegusa, Shozo; Yasuda, Yuya; Uratani, Yoshitaka; Tanaka, Eiichiro; Makino, Toshiaki; Chang, Jen Yuan.

:: Journal of Advanced Mechanical Design, Systems and Manufacturing, 巻 4, 番号 1, 2010, p. 194-205.

研究成果: Article

Saegusa, Shozo ; Yasuda, Yuya ; Uratani, Yoshitaka ; Tanaka, Eiichiro ; Makino, Toshiaki ; Chang, Jen Yuan. / Development of a guide-dog robot : Leading and recognizing a visually-handicapped person using a LRF. :: Journal of Advanced Mechanical Design, Systems and Manufacturing. 2010 ; 巻 4, 番号 1. pp. 194-205.
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