点字ブロックを用いた移動ロボットの自律走行

抄録

It is difficult to know the self-position of the robot in a crowded environment. We use braille blocks as one way to navigate to the destination. The robot detects braille blocks using 3D sensor depth data. We consider them as a graph structure and autonomously navigate to the destination. There are common processing and induction block detector, warning block detector in the braille block detection processing. We use the Hough conversion in induction block detector, and clustering in warning block detector. As a result of the detection experiment, the detection rate was about 70%. We confirmed that we can navigate the robot to the destination by using the detector.