二足ヒューマノイドロボットの自動ナビゲーションに関する研究

抄録

This paper describes an automatic navigation system for a bipedal humanoid robot. The automatic navigation system consists of a 3D map generation system, a real-time obstacle detection system, a path generation algorithm. In the 3D map generation system, the humanoid robot estimates its own position by using a landmark observation model, and a 3D map is generated based on 3D environmental information obtained from an RGB-D camera. The real-time obstacle detection system detects new obstacles by using the 3D map and the environmental information acquired from the RGB-D camera. The path generation algorithm calculates an optimal path to a destination by using a preliminary map. If the robot detects a new dynamic object while walking, the robot will adjust its local path. The effectiveness of the automatic navigation system is confirmed through a walking simulation using ROS (Robot Operating System).