Autonomous Guidance Robot System with Omnidirectional Image Sensor

摘要

Described here is a guide mobile robot system for following a user and navigating the user to the desired position in the environment such as museum or exhibition. The system acquires an omnidirectional information around the robot, in real-time, with multiple sensors such as the omnidirectional image sensor HyperOmniVision, omnidirectional ultrasonic sensors, etc. Since HyperOmni Vision observes a 360 degree view around the robot, it can observe a global and precise azimuth information of features, however, it is difficult to estimate the precise location of a moving object (user) from azimuth information. On the other hand, The system has active sensors such as omnidirectional ultrasonic ranging sensors and obtains range data around the robot. However, the azimuth resolution is poor and it is not suitable for the object recognition. Therefore we integrate both sensors'merits. HyperOmni Vision identifies and tracking the user by using the azimuth and color information. Furthermore, the location of the robot is estimated by HyperOmni Vision. The robot follows and navigates the user with the constant distance between the user and the robot by using azimuth information (HyperOmni Vision) and range information (Ultrasonic Sensors).