Autonomous Mobile Robot Navigation Including Door Opening Behavior -System Integration of Mobile Manipulator to Adapt Real Environment-

摘要

In this paper, we report a design and experi­ mental results of one intelligent robot motion. This research is performed along Task Ori­ ented Approach. In this approach, a concrete task should be set up, which is necessary for advanced robot motion, but it allows a con­ straint condition of it. Our specific task is Au­ tonomous Navigation Including Door Opening Behavior using a Mobile Manipulator in known indoor environment. Once our task was fixed, we made efforts to realize the task step by step. In the process of realization, we found not only several insights, but also problems common to mobile manipulators.