移動ロボットによる机上物体探索のための視点計画

抄録

The goal of this research is to develop an efficient object search method by an autonomous mobile robot. There are two main steps in object search. One is the object detection step to detect an object using sensors, and the other is the viewpoint planning step to move to the next viewpoint when the object is not detected. This research focuses on the viewpoint planning step that decides where to move for the next observation. In object search tasks, since searching unknown areas for the target object is preferable, we plan the next viewpoint which maximuize the unknown area to be observed. We apply the viewpoint planning method to the task of searching for a specific object on the desk using a human support robot (HSR) and verify its effectiveness in simulation and real environments.