Navigation of a Care and Welfare Robot using Cell Map Information

T. Yukawa, O. Hosoya, N. Saito, and H. Okano (Japan)


Movement in narrow space, omni-directional mobile mechanism, cell map information, image recognition, line trace using two or more cameras.


In this paper, we propose the development of a robot that can perform nursing tasks in a hospital. In a narrow environment such as a sickroom or a hallway, the robot must be able to move freely in arbitrary directions. Therefore, the robot needs to have high controllability and the capability to make precise movements. Our robot can recognize a line by using cameras, and can be controlled in the reference directions by means of comparison with original cell map information; furthermore, it moves safely on the basis of an original center-line established permanently in the building. Correspondence between the robot and a centralized control center enables the robot’s autonomous movement in the hospital. Through a navigation system using cell map information, the robot is able to perform nursing tasks smoothly by changing the camera angle.

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