Robotic wheelchair with autonomous traveling capability for transportation assistance in an urban environment

Masashi Yokozuka*, Yusuke Suzuki, Naohisa Hashimoto, Osamu Matsumoto

*この研究の対応する著者

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

To realize a new type of personal vehicle for elderly people while contributing to a low-carbon traffic society, we have been developing a robotic wheelchair with autonomous traveling and obstacle avoidance in an urban environment. In this paper, we primarily discuss two kinds of key technologies, long-distance autonomous travel in an outdoor environment and obstacle avoidance in a human-shared environment. For the localization and navigation methods, we propose sub-map dividing and realignment with FastSLAM, which enables generation of large-scale 3D voxel maps by the sampling based SLAM method. For the planning and obstacle avoidance methods, we propose motion control by a combination of the global/local A* algorithm and the dynamic window approach. To confirm the effectiveness of our proposed methods, the results of demonstration experiments using our robotic wheelchair 'Marcus' in the Tsukuba Robot Zone are also reported.

本文言語English
ホスト出版物のタイトル2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
ページ2234-2241
ページ数8
DOI
出版ステータスPublished - 2012
外部発表はい
イベント25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
継続期間: 2012 10 72012 10 12

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
国/地域Portugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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