2P2-F09 Detection and Avoidance of Pole-Shape Obstacles for a Guide-Dog Robot

摘要

Guide-Dog Robot which includes moving mechanism, detection and avoidance of obstacles, and human-machine interface functions is being developed for a visual impairment person. A stereo method is verified as a device to detect a pole-shape obstacle and expand to a bar-shape obstacle under in-house condition. Robot can estimate a coordinate of the obstacle using the information by the stereo method. To avoid them and go to a temporary target without any land mark, we propose two kinds of potential function and an additional potential of a person. Then, we can show arrival to the target without any troubles by using prototype robot.