A strategy for crossing of the robotic travel aid "Harunobu"

Author

Kotani, Shinji ; Nakata, Takateru ; Hideo, M.

Author_Institution

Fac. of Eng., Yamanashi Univ., Kofu, Japan

Volume

2

fYear

2001

fDate

2001

Firstpage

668

Abstract

Since 1982, we have conducted research and development on an autonomous mobile robot, the "Harunobu" series, and studied a robot that travels autonomously on the university campus. In 1995, we started the development of the robotic travel aid application to guide the visually impaired. The robotic travel aid (RoTA) is a motorized wheel chair equipped with vision, sonar and tactile sensors, as well as a map database system. The visually impaired can get mobility, orientation and navigation information from the RoTA. The paper describes a strategy for a crossing of our robotic travel aid "Harunobu". We implemented this strategy on the mobile robot "Harunobu-6". Experimental results in a real environment showed the effectiveness of our proposed strategy

Keywords

handicapped aids; image colour analysis; mobile robots; object detection; robot vision; signal detection; Harunobu robotic travel aid; RoTA; autonomous mobile robot; crossing strategy; map database system; mobility information; motorized wheel chair; navigation information; orientation information; sonar sensors; tactile sensors; traffic accidents; vision sensors; visually impaired people; Accidents; Database systems; Dogs; Mobile robots; Prototypes; Robot sensing systems; Robot vision systems; Sonar; Tactile sensors; Wheelchairs;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976246

Filename

976246