電動車椅子型ロボットDREAM号の走行制御に関する研究

URI http://repository.lib.tottori-u.ac.jp/Repository/metadata/76
File
Title
電動車椅子型ロボットDREAM号の走行制御に関する研究
Title Transcription
デンドウ クルマイス ガタ ロボット DREAM ゴウ ノ ソウコウ セイギョ ニ カンスル ケンキュウ
Title Alternative
Traveling Control of Autonomous Mobile Robots DREAM
Author
著者 大北 正昭
著者読み オオキタ マサアキ
著者英語Author Ohkita Masaaki
所属Affiliation 鳥取大学工学部電気電子工学科
Subject
autonomous mobile robot
environmental map
fuzzy control
an automatic wheelchair robot DREAM-3
a semi-automatic wheelchair robot DREAM-4
self-organizing map(SOM)
NDC
Description

The author was requested by the committee of Reports of the Faculty of Engineering, Tottori university to summarize the major researches during the life in the Department of Electrical and Electronic Engineering. With many thanks, the author will describe the research activities on the Autonomous Mobile Robots DREAM as follows: In the recent aging society, the burden of the nurses has increased. To reduce the burden even a little, we are developing the wheelchair type autonomous mobile robot, called DREAM-3, which will be used in indoor environments of the hospitals and/or welfare facilities. The DREAM-3 aims at carrying the passenger from its present place to the destination safely and comfortably. Along this line of the safety traveling, we have installed an environmental map to digitalize the information in the corresponding traveling environmental. Using the environmental map, suitable traveling route is estimated and a safety autonomous traveling is realized. This was proved on the traveling in a general welfare facility near our campus. Besides, based on the traveling approach of DREAM-3, a semi-automatic wheelchair robot, called DREAM-4, with a learning function has been proposed. A driver operates DREAM-4 by a joystick. And when the wheelchair meets with obstacles and senses danger, it travels slowly and avoids obstacles automatically. And DREAM-4 is to learn according to the operational feature of the driver, so that to make the steering easy.

Publisher
鳥取大学大学院工学研究科研究報告編集委員会
NiiType
Departmental Bulletin Paper
Link
ISSN/ISBN
NCID
Journal Title
鳥取大学大学院工学研究科/工学部研究報告
Volume
38
Issue
Start Page
13
End Page
24
Date of Issued
2007-12
DOI
Text Version
publisher
Rights
鳥取大学大学院工学研究科
Citation

鳥取大学大学院工学研究科/工学部研究報告. 2008, 38, 13-24

Set Type
工学研究科・工学部
Language
Japanese
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