Research on control of mobile robot cooperating with environment embedded sensors

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In this research, we aimed to accomplish the cooperation of intelligent space and mobile robots. Here we call the space composed of distributed sensors and actuators, intelligent space.1. Design and implementation of intelligent space to construct a system with high flexibility and extensibilityWe constructed component-oriented intelligent space by making distributed devices into component using RT-middleware. We discussed about design guidelines of observation function and mobile robot navigation function of the intelligent space and successed to build a system easy to add, change or delete the sensor and disposition functions.2. Navigation of mobile robot using information from intelligent space and robot onboard sensorsTo realize assistance of mobile robot in intelligent space, we investigated mobile robot navigation method in living environment. At first, we proposed a method to obtain main pathway of the environment by observing human walking path in intelligent space. Next, we showed that mobile robot can perform efficient and natural movement by integrating information of main pathway and own position with surrounding obstacle information.3. Integration of informations observed by intelligent space and mobile robotWe proposed to use not only distributed sensors but robot onboard sensors. We also proposed method to integrate both informations efficiently to navigate mobile robot. First, we showed that tracking moving objects and construction of environment map can be done precisely by using integrated information. However, there was a problem that the computation and connection load increases because of correlation between measurement values. To solve this problem, we proposed fusion methods. Moreover, we proposed a method to obtain robot model using particle filter and integrating it into the system to accomplish improvement of robustness and expansion of applicable scope.