权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Personal Intelligent Vehicle that Extends Human Physically and Informationally

扩展人类体能和信息的个人智能汽车

基本信息

批准号：
21300051
负责人：
KATASHI Nagao
金额：
$ 11.9万
依托单位：
Nagoya University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2009
资助国家：
日本
起止时间：
2009 至 2011
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21300051/
关键词：
知能ロボット知的移動体安全自動走行ジェスチャインタフェース個人用知的移動体自律移動ロボットジェスチャUI 移動体の連携・協調モビリティエージェントロボティクス連携・協調知能ロボティクス自律走行安全性ナビゲーション美術館案内

项目摘要

We have been conducting a research project of a personal intelligent vehicle called AT(Attentive Townvehicle). AT has a function of automatic driving to the destination that its passenger specified.One of example applications of AT is a museum appreciation support system that enriches museum experiences for each user who is a beginner of art appreciations. The system can encourage effective museum experiences to users by personalizing appreciation courses based on their past museum experiences. The system can tacitly record the museum experiences of the users who move in museums by boarding the automated vehicles.AT is capable of omni-directional movement and rotation by using special wheels called mecanum wheels and four servo motors. AT also has a function of automatic avoidance of obstacles by sensing 360 degrees around AT using four laser range sensors when its passenger specified a destination to automatically move.During automatic driving, it is difficult for AT to avoid moving o … More bstacles that are approaching AT from dead areas of AT's sensors. Therefore, we solved the problem by extending sensing areas of AT based on a Small Unmanned Vehicle(SUV). SUV has a function of generation of a 2D environmental map for localization of current position. SUV can search for places where there are some dead areas of AT on the way to its destination. SUV autonomously moves to the places and probes circumstances around there as a substitute of AT. Based on the above the mechanism, We developed a method of automatic safe transportation and evaluated its underlying techniques.As another useful application of SUV, we developed a mechanism to automatically generate indoor 3D maps by using a SUV. Our method can make a precise alignment between the 3D maps and the 2D environmental maps so that our generated 3D maps can be applied to highly informative indoor navigations.In addition, based on AT's basic functionality, we also developed a hand gesture interface as an intuitive control interface of AT. Hand shapes and motions are recognized by a depth sensor in real time. We evaluated our gesture interface from the viewpoint of visual feedback of recognition processes and found that our interface is intuitive enough for novice users to control AT as easy as possible.The outputs of this research can contribute to facilitation of R & D and deployment of intelligent moving machines and realization of safe and comfortable society in which senior citizens and handicapped people can live independently. Less

我们一直在进行一项名为AT(Attentive TownVehicle)的个人智能汽车的研究项目。AT具有自动驾驶到乘客指定的目的地的功能。AT的一个示例应用是博物馆欣赏支持系统，该系统为每位艺术欣赏初学者提供丰富的博物馆体验。该系统可以根据用户过去的博物馆体验，通过个性化的欣赏课程来鼓励用户获得有效的博物馆体验。该系统通过登上自动化车辆，可以默契地记录用户在博物馆活动的博物馆体验。AT通过使用称为Mecanum车轮的特殊车轮和四个伺服电机来实现全方位的移动和旋转。AT还具有自动避障功能，当乘客指定要移动的目的地时，AT使用四个激光距离传感器感知AT周围的360度。在自动驾驶过程中，AT很难避免移动o…更多的炸弹从AT的传感器死区接近AT。因此，我们基于小型无人车(SUV)来扩展AT的传感范围，从而解决了这一问题。SUV具有生成用于当前位置定位的2D环境地图的功能。SUV可以在前往目的地的途中搜索有AT死区的地方。SUV自动移动到那里，并探测周围的情况，作为AT的替代品。基于上述机制，我们开发了一种自动安全运输的方法，并对其底层技术进行了评估。作为SUV的另一种有用的应用，我们开发了一种利用SUV自动生成室内3D地图的机制。我们的方法可以将3D地图和2D环境地图进行精确的对准，以便我们生成的3D地图可以应用于信息量很大的室内导航。此外，我们还在AT的基本功能的基础上开发了一个手势界面作为AT的直观控制界面。手的形状和动作由深度传感器实时识别。我们从识别过程的视觉反馈角度对我们的手势界面进行了评估，发现我们的界面足够直观，新手用户可以尽可能容易地控制AT，本研究的成果有助于促进智能移动机器的研发和部署，实现老年人和残疾人独立生活的安全舒适的社会。较少