Traveling control of the autonomous mobile wheel-chair DREAM-3 considering correction of the initial position

摘要

The aim to develop DREAM-3 is make it travel in indoor environments such as in hospitals and/or welfare facilities for their practical use and serve to take care of old people and physically handicapped person. The autonomous mobile robot DREAM-3 has loaded an environmental map for the safety driving, where various sensor information is integrated. In this paper, method to collect the initial position of the robot on the environmental map is described with the traveling control.