Dependable environment sensing system for personal mobility robot

作为使用个人移动机器人和设备为残疾人和老年人实现安全和舒适移动的基础研究，我们（1）研究了通过融合来自位于附近的多个机器人的传感器数据来跟踪移动物体，例如人，汽车和自行车，即使在经常发生闭塞的环境中，（2）提高了跟踪系统的可靠性，使得即使在传感器异常发生时也可以保持精确的跟踪，（3）在配备激光扫描仪的移动的机器人平台上，通过仿真和实验对所提出的跟踪系统进行了评估。

As a fundamental study to achieve safe and comfortable mobility using personal mobility robots and devices for the disabled and elderly, we (1)studied in tracking of moving objects, such as people, cars, and bicycles, by fusing sensor data from multiple robots located in vicinity, even in environments where occlusions often occur, (2)improved the dependability of the tracking system so that it can maintain accurate tracking even when sensor anomalies occurs, and (3)evaluated the proposed tracking system through simulations and experiments using mobile robots’ platform equipped with laser scanner.