公开(公告)号：CA2132359A1

公开(公告)日：1995-04-26

申请号：CA2132359

申请日：1994-09-19

Applicant: IBM

Inventor： ECHIGO TOMIO ,  ISHIKAWA SHIGEKI ,  ASAKA SHUNICHI ,  HAZEKI SHINICHIRO

IPC: B25J13/08 ,  B25J9/18 ,  G01S15/06 ,  G05D1/02 ,  G06T1/00 ,  H04N13/00

Abstract: DEVICE FOR MOVING A MOBILE ROBOT To run and move a mobile robot safely and effectively in an environment obtained from a plurality of different sensors. Sonar data given as distance information for an object is used to interpret the surface configuration of an object at a sonar interpretation section. Three-dimensional information about stereo data based on image signals from stereo cameras is used to interpret the surface configuration of an object at a stereo interpretation section. At a hypothesis generation section, a geometrically consistent interpretation is used taken from interpretations obtained from each sensor to generate a hypothesis giving the configuration of an object. A table is used to determine which data is assigned priority, sonar or stereo, to check sensor data corresponding to the surface configuration of the hypothesis against actual sensor data with the passage of time to verify the hypothesis. The mobile robot moves to avoid an obstacle, or its movement is directed, in accordance with the hypothesis with respect to the current environment by referencing the run route.