一个导盲犬机器人harunobu -5跟随一个人

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI:10.1109/IROS.1991.174482

H. Mori, Mitukuni Sano

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引用次数: 17

摘要

描述了导盲犬机器人Harunobu-5的概念和跟随人的刻板动作。导盲犬机器人由任务规划器、数字地图、交互式导航仪、视觉系统和底盘系统组成。当机器人不能沿着标志模式移动时，就会启动“跟随人”。机器人停下来，通过色觉找到移动的行人。之后，机器人通过跟踪它的夹克或裤子的图像来跟踪它。“跟随人”概念在“春风5号”上得到了实施和测试，只成功地跟随了一个人

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A guide dog robot Harunobu-5-following a person

The concepts of guide dog robot Harunobu-5 and a stereotyped motion following a person are described. The guide dog robot consists of a mission planner, digital map, interactive navigator, vision system and undercarriage system. Following a person is activated when the robot fails to move along sign pattern. The robot stops and finds a moving pedestrian by color vision. After that the robot follows it by tracking its jacket or trousers image. The following person concept was implemented and tested on Harunobu-5 and was successful in following only one person.<>

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

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