Development of the memory based autonomous mobile robot which enables on-site teaching through shared vision

在第一年，1996年，我们设计了移动机器人的整体系统，我们可以骑在上面，并通过机器人视觉系统教我们想要的路。今年，我们关注的是基于记忆的行为和语言交流的功能。(1)寻找并记忆提示对象，以指定我们想要走的路(a)找到机器人视觉系统共享视图中指定的提示对象(b)找到并记忆提示。(2)增加语音识别功能，向机器人发出指令。骑在机器人上的人可以给出简单的指令，找到在教学阶段已经教过的目标线索物体。当机器人不能理解指令时，它可以产生一个问题来确认意思。(3)总体实验我们在大学校园外进行了实验，以测试共享视觉的有用性和基于记忆的功能的有效性。

In the first year, 1996, we designed the total system of the mobile robot which we can ride on and teach the way where we want through the robot vision system. This year, we focused on the functions of memory based behaviors and speech communication.(1) Finding and memorization of the cue object to specify the way we want to go(a) finding the cue object specified in the shared view of the robot vision system, (b) finding and memorizeing the cues.(2) Addition of the speech recognition function to give instructions to the robot.The human riding on the robot can give the simple instruction to find the target cue object which has been taught in the teaching phase. When the robot can not understand the instruction, it can generate a question to confirm the meaning.(3) Total experimentsWe have experiments outdoors of our university campus to test the usefulness of the shared vision and the effectiveness of the memory based functions.