832 Study of environment recognition by rescue robot to semi automatic operation

Abstract

In this paper, we propose the semi autonomous control method to aim to decrease the control person's load in the rescue robot control. The semi autonomous control that needs the switch of an autonomous action and semi autonomous it is switched by judging the robot. When the robot is judging that the robot can act safety, the robot acts autonomous, and the robot leaves own control to controller, when the robot is judging dangerous. When the robot acts autonomous, the robot needs the environment recognition of three dimensions. In this study, we confirmed the effectiveness of environment recognition of three dimensions by the stereo vision, and then verified the validity of the control method.