生活支援ロボットへの動作指示のためのＴＯＦ型レーザセンサによる位置姿勢推定方式の提案

抄録

We propose a beacon method for a mobile robot navigated by a TOF laser sensor on a pan-tilt actuator in a base station, and apply the method to a motion teaching interface for a caregiver robot. The position and orientation of the mobile robot can be estimated by measuring the pan-tilt angle, length of the laser beam as well as the laser spot position on a translucence screen equipped on the mobile robot using a camera. We constructed an experimental system consisting of a differential wheel robot using a web camera and evaluated the estimation error by experiments.