Abstract
This paper proposes a navigation system of a personal mobility robot in informationally structured and unstructured environments. First, we introduce a group of robots named Portable Go, which are equipped with laser range finders, gyros, and omni-directional wheels. The Portable Go robots expand the informationally structured environment by deploying in the informationally unstructured environment in advance. Then, a personal mobility robot based on an electric wheelchair is guided by eleven Portable Go robots in the new informationally structured environment which is just created by the Portable Go robots. Through navigation experiments, we verify that the proposed system navigates the personal mobility robot from the informationally structured environment to the informationally unstructured environment smoothly by using the Portable Go robots.
Highlights
Due to the growth of our aging population, the expectation for service robots, which provide various service tasks and support our daily lives, is increasing more and more
Various types of service robots, such as PR2 (Willow Garage) and HSR (TOYOTA), have been developed so far to perform daily tasks. These robots are self-contained, which means they are equipped with a processing unit and a number of sensors, such as a laser range finder, a stereo camera, or a tactile sensor
As an example of a service robot, we investigate a personal mobility robot that moves in various environments automatically
Summary
Due to the growth of our aging population, the expectation for service robots, which provide various service tasks and support our daily lives, is increasing more and more. Various types of service robots, such as PR2 (Willow Garage) and HSR (TOYOTA), have been developed so far to perform daily tasks. These robots are self-contained, which means they are equipped with a processing unit and a number of sensors, such as a laser range finder, a stereo camera, or a tactile sensor. The service robot is expected to perform service tasks that are complicated and cover a wide range. Limitations exist for a self-contained robot to provide proper services every time due to its underdeveloped sensing and processing capabilities. Instead of a self-contained robot, another approach using an informationally structured
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