File
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
Authors
Keywords
autonomous mobile robot
environmental map
fuzzy control
an automatic wheelchair robot DREAM-3
a semi-automatic wheelchair robot DREAM-4
self-organizing map(SOM)
Abstract
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
Content Type
Departmental Bulletin Paper
Journal Title
鳥取大学大学院工学研究科/工学部研究報告
Current Journal Title
鳥取大学大学院工学研究科/工学部研究報告
Volume
38
Start Page
13
End Page
24
Published Date
2007-12
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
Department
Faculty of Engineering/Graduate School of Engineering
Language
Japanese