プロジェクタロボットの投影適正領域への経路計画方法

抄録

In this paper we propose a method to improve projection quality of projection robots that work in our daily environments. In previous work we have proposed a robot CAMPRO-RIS which can project from arbitrary place to a specified position and size without distortion. However, there is a problem that projection quality deteriorates as the distance from the robot to the position becomes larger or the angle becomes steeper. To overcome the problem we propose a planning method that considers the projection quality according to the specification of the projector and simultaneously avoids obstacles. By making use of the redundant degree of freedom of the CAMPRO-RIS, our method computes a potential function that navigates the robot to appropriate areas to project while keeping projection to the specified position. We have confirmed the validity of the proposed method based on the simulated experiments and real robot navigation and projection experiments.