| Presentation | 2006-02-23 Path Planning using Potential Field for 3D Reconstruction of a Disaster Site by a Mobile Robot Katsuya KAWAI, Atsushi NAKAZAWA, Kiyoshi KIYOKAWA, Haruo TAKEMURA, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We have developed an information gathering mobile robot that acquires geometry information of a disaster site. The robot has an omnidirectional range sensor, an omnidirectional camera, and an orientation sensor. We use a potential field method to plan a path to the goal avoiding some obstacles and rough terrain. The planned path presented as a spline curve is used to the mobile robot trajectory control. Outdoor experiments have shown that the autonomous mobile robot runs and reconstructs the real environment successfully. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Disaster Site / Three Dimensional Geometry / Path Planning / Frequency Analysis / Range Image Processing |
| Paper # | TL2005-63,PRMU2005-198 |
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| Conference Information | |
| Committee | PRMU |
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| Conference Date | 2006/2/16(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Pattern Recognition and Media Understanding (PRMU) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Path Planning using Potential Field for 3D Reconstruction of a Disaster Site by a Mobile Robot |
| Sub Title (in English) | |
| Keyword(1) | Disaster Site |
| Keyword(2) | Three Dimensional Geometry |
| Keyword(3) | Path Planning |
| Keyword(4) | Frequency Analysis |
| Keyword(5) | Range Image Processing |
| 1st Author's Name | Katsuya KAWAI |
| 1st Author's Affiliation | Graduate School of Information Science, Osaka University() |
| 2nd Author's Name | Atsushi NAKAZAWA |
| 2nd Author's Affiliation | Cybermedia Center, Osaka University |
| 3rd Author's Name | Kiyoshi KIYOKAWA |
| 3rd Author's Affiliation | Cybermedia Center, Osaka University |
| 4th Author's Name | Haruo TAKEMURA |
| 4th Author's Affiliation | Cybermedia Center, Osaka University |
| Date | 2006-02-23 |
| Paper # | TL2005-63,PRMU2005-198 |
| Volume (vol) | vol.105 |
| Number (no) | 614 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |