The calibration between range sensor and mobile robot, and construction of a obstacle avoidance robot

Recently, robot that assists a human is desired, because the aging society will come. For example, if there is a robot which avoid a obstacle automatically, it is possible to assist humans. Therefore, we construct a obstacle avoidance robot. In order to achieve a autonomous robot, obstacle avoidance, path planing, and mobile robot control are required. In this study, TOF type range sensor that is a possible to measure the distance is used. Moreover, an obstacle is detected using the distance information acquired by TOF camera. Optimal path is decided by the potential method. When TOF camera is put on a mobile robot, it is a problem that a robot coordinate system differs from the coordinate system of TOF camera. Then, the calibration of a robot and TOF camera is performed by odometry information and estimating the pose between TOF camera and actual environment. In order to verify the practicality of this proposal system, we experiment at room environment with flat floor.