지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국지능시스템학회 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS Vol.4 No.1
- 발행연도
- 2004.6
- 수록면
- 101 - 110 (10page)
이용수
초록· 키워드
오류제보하기
The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably.
In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.
In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.
목차
Abstract
1. Introduction
2. Human-Following Robot in ISpace
3. Configuration of the ISpace
4. Mobile Robot Control for Trajectory Generation
5. Trajctory Estimation of a Walking Human
6. Motion Planning for Human-Following
7. Robot Control by DIND
8. Experiments
9. Conclusion
Reference
참고문헌 (27)
참고문헌 신청
[학술지(정기간행물)] - / 1999 / A person following behavior for a mobile robot : 670 ~ 675
[학술지(정기간행물)] - / 2001 / Vision based mobile robot control for target tracking : 73 ~ 78
[학술지(정기간행물)] - / 2001 / Key technologies in robot assistants : 410 ~ 415
[학술지(정기간행물)] - / / Navigation of a quadrapt robot on a pancake-like structure by following operators (2001) : 291 ~ 292
[학술지(정기간행물)] - / 1998 / Finding and following a human based on on-line visual feature determination through discourse : 348 ~ 353
[학술지(정기간행물)] - / 2001 / Vision based mobile robot control for target tracking : 73 ~ 78
[학술지(정기간행물)] - / 2001 / Key technologies in robot assistants : 410 ~ 415
[학술지(정기간행물)] - / / Navigation of a quadrapt robot on a pancake-like structure by following operators (2001) : 291 ~ 292
[학술지(정기간행물)] - / 1998 / Finding and following a human based on on-line visual feature determination through discourse : 348 ~ 353
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