Recognition of 3D dynamic environments for mobile robot by selective memory intake and release of data from 2D sensors
Recognition of 3D dynamic environments for mobile robot by selective memory intake and release of data from 2D sensors
复制标题
通过选择性内存摄取和释放 2D 传感器数据来识别移动机器人的 3D 动态环境
DOI：
10.1109/sii.2012.6426953
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Y. Honda
中科院分区：
文献类型：
--
作者：
Ryosuke Murai;Tatsuo Sakai;Yukihiko Kitano;Y. Honda
我们已经开发了一个自主的移动的机器人进行医院运输。当自主移动的机器人在医院中移动时，它需要检测和避开诸如床、轮椅、病人、访客和医院工作人员等障碍物。这些障碍物移动并且通常具有仅通过测量水平表面的2D传感器无法检测到的悬垂部分。因此，机器人必须实时识别三维空间中的障碍物。用于实际使用的适当且实用的3D传感器不可用，并且使用诸如3D-SLAM的2D传感器的3D投影不够快以与移动对象碰撞。提出了一种移动的机器人周围三维环境的识别方法，在机器人的前方安装一个激光测距仪测量水平面，在机器人的左右两侧和前方顶部安装三个附加测距仪向下观察并检测三维障碍物。通过数据融合将信息集成到存储器中。该方法的特点包括记忆的障碍物的位置与悬垂和删除记忆的位置的移动障碍物从存储器通过选择性的内存摄入量和释放的数据从2D传感器。本文还详细描述了机器人在真实的医院中的实验和实际运行结果。
We have developed an autonomous mobile robot to perform in-hospital transportation. When an autonomous mobile robot moves in a hospital, it needs to detect and avoid such obstacles as beds, wheelchairs, patients, visitors, and hospital staff. These obstacles move and often have overhanging parts that cannot be detected by only 2D sensor which measures horizontal surface. The robot, therefore, must recognize obstacles in a three-dimensional space on a real-time basis. Appropriate and practical 3D sensors for actual use are not available, and 3D recognitions using 2D sensors such as 3D-SLAM are not fast enough to collide with moving object. This paper proposes a method that recognizes the three-dimensional environment around a mobile robot using a laser range finder at its front for measuring the horizontal surface and three additional range finders at the left and right sides and the front top position to look down and detect three-dimensional obstacles. The information is integrated by data fusion into the memory. The features of this method include memorization of the obstacle positions with overhangs and removing the memorized position of the moving obstacles from the memory by selective memory intake and release of data from 2D sensors. This paper also describes experimental and actual operational results in detail about the robot equipped with the developed process in real hospital.