フルテキストファイル
タイトルヨミ
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
タイトル別表記
Traveling Control of Autonomous Mobile Robots DREAM
著者
大北 正昭 鳥取大学工学部電気電子工学科 KAKEN
キーワード
autonomous mobile robot
environmental map
fuzzy control
an automatic wheelchair robot DREAM-3
a semi-automatic wheelchair robot DREAM-4
self-organizing map(SOM)
抄録
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.
出版者
鳥取大学大学院工学研究科研究報告編集委員会
資料タイプ
紀要論文
掲載誌名
鳥取大学大学院工学研究科/工学部研究報告
最新掲載誌名
鳥取大学大学院工学研究科/工学部研究報告
38
開始ページ
13
終了ページ
24
発行日
2007-12
著者版フラグ
出版社版
著作権表記
鳥取大学大学院工学研究科
掲載情報
鳥取大学大学院工学研究科/工学部研究報告. 2008, 38, 13-24
部局名
工学部・工学研究科
言語
日本語