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Identification of types of obstacles for mobile robots

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Abstract

For service robots coexisting with humans, both safety and working efficiency are very important. In order for robots to avoid collisions with surrounding obstacles, the robots must recognize obstacles around them. In dynamic environments, not only currently moving obstacles but also movable obstacles should be recognized. In this paper, three types of obstacles, such as stationary, movable and moving, are defined, and a method to identify the type of obstacles is proposed. The experiments using a mobile robot were conducted to evaluate the usefulness of the method.

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Authors and Affiliations

  1. Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

    Yusuke Tamura, Yu Murai, Hiroki Murakami & Hajime Asama

Authors
  1. Yusuke Tamura
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  2. Yu Murai
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  3. Hiroki Murakami
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  4. Hajime Asama
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Corresponding author

Correspondence to Yusuke Tamura.

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Tamura, Y., Murai, Y., Murakami, H. et al. Identification of types of obstacles for mobile robots. Intel Serv Robotics 4, 99–105 (2011). https://doi.org/10.1007/s11370-010-0073-4

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  • DOI: https://doi.org/10.1007/s11370-010-0073-4

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