1718 複数のカメラを用いた自律型移動ロボットの屋外ナビゲーション(OS2-4 ロボティクス・メカトロニクスIV,OS2 ロボティクス・メカトロニクス)

抄録

This paper presents outdoor navigation of autonomous mobile robot using multiple cameras In order to sense its surrounding environment and own location, the mobile robot is assumed to be equipped with a stereo camera and Web camera Look-ahead Control is adopted to steer the mobile robot in which a reference point located in front of the robot is dynamically changed such that the mobile robots are able to succeed in fully maneuvering among the obstacles and reaching the goal A stereo camera is used for obstacle avoidance Web camera is used in order to perform white line detection and to stop.