lS E-T R-81-2?
濾. .8婆
A MOBILE ROBOT WITH SONIC SENSORS
AND ITS UNDERSTANDING OF A SIMPLE WORLD
by
Yutaka Kanayama
Shin’ichi Yuta
Jun’ichi ljjima
February 27, 1981
ISE-TR-81-22
A Mobile Robot with Sonic Sensors
and its Understanding of a Simple World
Yutaka Kanayama ロ ロ
Un■vers■’ヒy of Tsukuba, Sakura, 工baraki 305 Japan
Shin’ichi Yuta
Un■▽ers■’ヒy of Tsukuba, Sakura, 工baraki 305 Japan
Jun’ichi 工ijima
The University of Electrocommunications, Chofu, Tokyo 182 Japan
Abstract: This paper discusses how a mobile robot with .sSl!RgEELEe S.一9.一.PA.S....一.beSpme...;..一S.一9g.S..
can l。。k at the w・rld and翼旦典9叫噸$the difference between…璽聖.
and pthg,.r,.obJ.e..cts. This intelligent self-contained robot, named
Yamabico 3・l was de▽eloped under a proゴect whose purpose was, in
part to construct a robot which knows its position in the world.
The robot has 璽乱~三≡P∫⊇9卑pqtgr sys’ヒems for the brain and the legs,
and a cornmunication system between the two. Zt has .ESQuy supersQnic
eyesr a neck, and ba七teries. The leg sys・ヒさm consists of two driving
wheels with DC mo・ヒors and ensures smoo’ヒh movement・
Second, a method for the robot to recognize a’simple world is
described. A simple method is proposed for n.oise eliminat二ion・
Then the robo七1s images of a simple world are described and a method
by which the robσヒ can recognize鵡1≦血虹_y愚.↓1β is proposed. 象黛旦t
』q巴鰭鰻無tting is used f・r the discriminaセi・n・This pr・cequre
giveS theゑ工£短喚£9...㌻9..the嚇ll and the罵ζgc襟9要...9≠.やe..wall with
respect ・ヒ○ ・ヒhat of the robot i s pa Uh・ Fina:Llyr a robo’ヒ con’ヒrol
me. Phod for ssF-t一.F一.ha....;. gh.一t.rgp..v. ero{.n,.t ..a.long q wa」..1 is proposed. The software
for all of this is a part of the basic brain monitor of Yamabico 3.1.
0. 工n・ヒroduction
Mob±lity is an extremeiy ±mpodr-tant ability for intelligent.
robots’ because ’ヒhey cannot perform・ヒheir ・t二asks :fully without it.
Many mobile robo七s which use TV cameras for understanding thei:r
environment have been reported [1][2][3][4]. Scene analysis is
needed for an inteUigent automaton to recognize objects and get
『ヒhree-dimensional information.
Supersonic sensing is another tool for understanding”ヒhe world
[5]. This paper describes the method, abilities and iimitations of
supersonic・ sensing by mobile robots. Smali power consumpt.ion, good
cost/perfOrmance ratios, light weighdヒ and ease of acquiring distance
information are advan・ヒages of this met二hod.
Yamabico 3.1 is a self-cOntained intelligent robot.from the
Yamabico family and has functions very similar ・ヒO those of Yamabico
3 [6]. The name r roughly equivalent to ”Echo”, was ’chosen to
highlight its sonic sensing method. Since the angular precision
of sonic devices is limited, the images obtained are fuzzY. An
algori『ヒhm for deriving reliable information from noisy data is
presented later j n this paper.
工n this analysis, the environment of the robot is restricted
to a hallway su:rrounded by plana:r waユls. Worlds of 七his type are
well adap七ed to being unders’ヒood by a robot二wi七h four eyes. This
is the first step foward describing the world by using simple eyes.
Expe「’men七s ス’th m。「e c。mplex w。「lqs will be rep。rted in subsequent
papers.
.Sec’t二ion l describes the hardware and sof・ヒware of the Yamabico
3.1. robot. ln Section 2, some results of basic experi‘ments with
superson■c eyes、are presented. These resul七s are needed in
designing the wall recognition algorithm presen・ヒed in Section 3.
一1一
Section 4 is devoted
along a waU.
to a meセhod by which Yamabico can walk straight
1. Amobile Robo・ヒ Yamabico.3.1
Yamabico 3.i was constructed to serve as a tool to develop the
world-understanding concep七 used by mobile robots. (See Figure l)
One of the main purposes of this project is to construct a robot
which is aware of i’ヒs position in the world, wi’ヒh or without a map。
The Dresults reported in this paper are the first step towards that
goal.
1.1 Hardware
The architecture of Yamabico・3.]r is shown in :Figure 2. 工’ヒs
main features are as follows:
(1) rヒ consists of a bra=Ln, tWo 工egs, a neck, four supersonic eyes,
and batteries, carried in one body.
(2) 工’ヒ con’t:ains 七wo microcompUt;er systems for the brain and the leg
、system, which are hand-shaked ’ヒhrough a communication por’ヒ..
Each of the system consists o£ an MC6802 8.bit microprocessor,
ROM, RAM and monitor.
(3)The entire b・dy can be mQved by七w。 driv斗ng wheels and tw。
swiVel-ca s{二〇:r wheels. The dri▽ing wheels are con・ヒ:ζo二Lled by a
mic:roprocessor and DC mo『ヒors ’ヒ。 ensure smooth movement [7].
(4)・・The eye system is mdun’ヒed on ’ヒhe neckr which ca;ロ acotate around
the central axis.
(5) The eye system consis七s・of four transmi『ヒter-recei▽er pairs Which
are moun’ヒed so tha’ヒ adjacent eyes are separated gQ。 in’a2imuth.
Each transmi’ヒter emits 40KHz waves horizontaユly ∂r〕d the
correspondinq.receiver ge七s an echo if an obゴec●ヒ exists in j.ts
- 2 一一
direction。 The time interval is proportional ・ヒ。 ・ヒhe dis七ance
to the object. This eye can detect an object as far as 3m
distant。 The horns are now being rebuil’ヒ and 七he sensing
ability wili be impxoved.
(6) The energy supply is from NiCD batteries.
!.2 Software
Yamabico is a multipr。cess・r system and its s。ftware sys七em is
devided into two parts; the brain monitor and the leg moni・ヒor. The
leg system is a slave of the brain system. The communication between
the七wo is done by an interrupt procedure through the co㎜uni6ation
port and there is a leg command system (See Figure 3).
The m・st imp。rtan七brain m。nit。r functi。hs are,
(1)
(2)
(3)
(4)
(5)
(1)
(2)
(3)
(4)
SupP。rting c。ncurrent pr・cesses and・nterrupt handling・
SupPorting basic 工/O functions indluding console ones, such as
ロ コ
son■q eye operat■on.
Sending commands to the leg system, such as a turn co㎜and.
Suppor・ヒing basic arithmetic functions.
Execu’t=ion of 七he user I s proqrams.
The mos’ヒ impor七ant leg monitor func’ヒions are:
Supporting concurrent processes and interrupt handling。
SupP。rtinq the basic leg c。㎜andr・
Sending commands to the brain system.
Suppor’ヒing basic arithmetic func『ヒions.
a:.m一一g!in1igslSg!2ELES3sE一一gU!}g-SgnE!s2LSgpsgizsCharactensbics of the Sonzc Sensors
工n this section, basic experimental da・ヒa of the sonic sensors
of Yamabico 3・l are presented. Assume the robo・ヒ is mo▽ing straigh・ヒ
’ヒ。 the right along a wall (See Figure 4). 工f Yamabico uses 七he
・一 3 一
lef七 eye ・ヒ。 measure the distance ’ヒ。 ●ヒhe wall at fixed intervals,
we obtain a sequence of pointst Pot Pl, …, Pi. Assume that the
path of the robo七 is straiqh’ヒ, and take a coordinat二e system such
・ヒhat:the x axis coincides with the pa’ヒh. Then the sequence is
exp「essed as(x・’y・)’●’ (xi’yi)’whe「e each xゴis。btained
by using a leg command that tells the walking distance, and each
yゴis。btained by using an eye function・.
The following figures show how a simple would is seen by the
robot wit二h supersonic eyes. Fi gure 5 shows a result for an une▽en
wall. Each dot in ’ヒhe figure represents an object which caused an
echo. No・ヒe tha’ヒ at the transient area TA, the obser▽ed ▽alues do
no’ヒchange ab:rup’ヒly. We no●ヒice some points which lie much closer 七〇
七he r・b・t than adゴacentか・in七s d。. We call them n。ise datar which
are supposed to be caused by environmental sonic noise. , All noise
data are smaller than true da‘La. Zn a usgal laboratory environment r
the pr・babili七y。f n。ise data gccurrence is ab・ut l署・
Figure 6 and 7 describe how the eye sees a plastic sylinder・
and a person standing in fron’ヒ of a s’ヒraigh・ヒ wall. The broken
ve:rtical lines in the figures represent 七he absence of echoes at
・ヒhose poin・ヒs. ]=n this case we st:ipulate that y.=0. )
We are interested in the angular precision of sonic sensing.
工f ’ヒhe eye looks at a wall at an incidence angle of 450, then ’ヒhe
sonic recei▽er accepts no echoes a’ヒ all. Figure 8 shows responses
which are.o:btained by scanning ’ヒhe wall when ’ヒhe neck is ro.ヒa’ヒing.
The data tell us that七he eye gets an ech。 when it l。。ks’ ≠煤@the wail
a’ヒ an incidence angle less 『ヒhan 200.
When the robot is sta’ヒionary and a person goes by beヒween ・ヒhe
robot and a’@wall, the eye perceives an image like that shown. in
Figure 9.
一 4 一
The preceding results say tha七measured values sometimes
contain noise, ’ヒhat false ▽alues are always smaller than the true
ones’ and tha『ヒ under certain condi’ヒions ・ヒhe eye misses echoes.
Let us propose a simple method of elimina・ヒing noise.
Assume ’ヒhat the robot is moving and・coordinates (x.’ y,) have コ ⊃
been obse:rved. Le{二 (x, y) be the results of the next observation.
「pmos七cases’there is a parame七erδsuch that the difference
ly 一yゴビδナ・n-the・ther hand’if y・yi一δ,七hen y might p・s』ib・y
be noise data・ Also, if y=0, (・ヒhat is, :no echo has come), ・ヒhere
i串 a slight possibility 七hat the eye will catch an echo in 七he
second trial・ 工n the lat’ヒe:r two’cases’ new coordina・ヒes (x曾, y雪) are
immediately obse「ved and are taken as(xゴ+・’yゴ+、)・That is・
(Xj+・・ Yj+・)一{:1∴llhl誌ll岬y≠0’
Thenr ’ヒhis method makes not more ・ヒhan two measurements for one point.
One reason ’ヒhe robot does not二make many obser▽a・ヒions is ・ヒha七
’ヒhe robot is mo▽ing be・ヒween sonic emissions.
:F■gure lO shows the result of noise elimination in the same
コen▽■ronment as ’ヒhat of Figure 5. This function is implemented in
the basic eye subrout;ines of the brain monitor.
pt. Recognizzng Walls
エtis necessary f。r a m。biie r。b。t t。 kn。w the distance fr。m
itself t。 the nearest wall・工七is’h。wever, n。t apPr・priate y・ge七
QniY one value and accep・ヒ i・ヒ as a 1・ヒrue distance’ because random
十 Typically, δ=4cm.
一 5 一
ノ
noise may override a signal and. because the eye may pick up a value
in a tranrient a「ea between tw。 walls・The following l.ine.趾ting
procequre is employed after noise elimin.ation. This is
a sort of one. 一dirnensional image processing.
We h4ve to determ」ng whether or not the mobUe robot is facing
a planar wal:L. For tha’ヒ purpose, we ’ヒake the last 2:N+l data
(XnvN, YmN)r ’”r (XN, YN) and make a least squares tit to get the
equation. y=ax+b.w±th respect.to the robot path. (See Figure ll).
Assume that f・r allゴwith-N≦」≦N’yゴ≠0・That is’at each 2N+l
point, the eye accepts an echo.
The coefficients a and b and the sqm, of squares of residuals
S are giyen by the foUowing.equations.
(iXj2)a+(lxゴ)b.一lxゴyゴ
(iXゴ)a+(!’)や=lyゴ
S=lyゴ2-aΣxゴyゴbΣyゴ
コ ] コ
where all ’summation is taken from 一N to N.
Let x-N,…, xN be n・rma・iz6d as-N△x)…’N△x respective・yナ・
That is, the’x coordinate is local ahd moved to the forward direction
of the robot as a new current vaiue (x, Y) comes. Let K denote’
争(N+・)(2N+・). Then la;・band S a士e e▽a・uated by七he f。・・。wingl
J
a千丈IXゴyゴ・
b 一 sSi.FTiiYj
ly」∵妾(IX」y」)2一 sStT・(lyゴ)2
Tberef・re.七he・n・y r’ ?曹浮奄窒?高?獅煤@is t・c・mputeΣyゴ’Σx」yゴandΣy」2
at each step. The p’窒盾№窒≠香@for this evaluation in real tirne i. s
十 Typically N=8 and △x=・lcm.
一 6 一一
shown ±n Figure 12. Zn this programr the variables ”sumy”, ”sumxy”
and ”sumyy” denote the above summations. z[!. ar1] is an array
representing the sequence y-N to yN. The variable ”sig”, ”dx” a’ 獅
lt xO 1’represent the number of nonzero values in ’ヒhe array 乞, △x and
nAx respectively. [Phe 2N+1 data under consideratiop a.re recognized
as on a.st二:誓aight wall if sig=2N+l and SくSmr where Sm is a
parametet。f this meth。d+.
This algorit:hm has been coded and execut二ed for the situat二ion
shown in Figure 5. The result is presented in Figure 13, where the
bold parts of the lines are the region that the robot recognized as
a wall.
Tf there exists any difference in the distances between walls
and 『ヒhe robot, then t二he robot recognizes the shape of walls. Thus,
the robot can draw a map of a woscld which the robot had not known
before.
4. Control of Straight-Line Movement
TO walk straight is an impo:r’ヒan’t二function for mobile robo七s.
工t is, howev6r, impossible to do so through a long Pa・ヒh wi・ヒhout
help of eyes, because of imbalances between ’ヒhe ’two mot二〇r sys七ems
and irregularities in 七he floor surface. Therefore it is necessary
for the robot to utilize its eye during its walk.
A first-order pMedictipn of the track of the robot is the
basis for ’ヒhis method. SupPose that we ha▽e Yamabico walk along a
long straight wall. 1ts four eyes and the algorithm described ±n
Section 3 can be used for that purpose.
t Typ±cally Sin=IOocm2.
一 7 一
LL l is a line on which the mobile robo’ヒ is to walk, and is
away from the wali by a distance c. (See F±gure 14). When the
rgbot is at Pl:
(1) By using ’ヒhe algori’ヒhm.shown is Section 3, the robot gets the
distance b and. the slope a at Pl and predicts its position P2
which is beyond Pl by a distance e.’ Let b2 be a distance from
the wall to the robot.
(2) 1f c-t S b2 S c+t, then no special operatio.n occurs. Otherwis’
the directi5n of the robot is changed by Ae= liLitli E-C such that new
expected point Pi is on LIJ’. This adjustment of direction can
be done smmothly by one of the leg commands of Yamabico 3.1 [7].
(3) The above procedure (1) and (2) is repeated once ih a distance
r along the route. t, e and r are important parameters of this
procedure. Their typical values are 5cm, 2m and lm.
5. Concluding Remarks
The four-way eyes work 21stLx..m.y well in recognizing worlds where
弓↓よ一・唄工S~鎚一脚allel・r.一Lゑ七工独隙鳳e鉱一The c。st階
perfoDrmance of supersonic eyes is good. Least square fitting is
prXac’ヒical for recOgnizing walls in real time. The leg func・ヒions
mentiQned in this paper are necessary fOr a robo・ヒ without any map
of ’ヒhe world and also for a robo『ヒ tha・ヒ has a Inap of the world.
一 8 一
Acknowledgement
The authors thank Professor J. W. Higgins of Tsukuba University
for his useful suggestions and oritical reading of the manuscript ,プ
and aiso thank Mr. Shingo Tokizono for his experimental work for the
charac『ヒeristics of sonic.eyes.
一 9 一
ノ
References
[1] Nilsson, J. J., A.Mobile Automation: An Application of
Ar・ヒificial 工ntelligence Techniques, Proc・ of lst 工JCAI’
pp.・ 509-520, 1969.
[2] Dobrotin,’B. and R. Lewis, A Practical Manipulator System,
Proc. of 6th 工JCA工, pp. 723-732, 1979.
[3】Th。mps。n, A. M., The Na▽igati・n Sy Stem・f the」PL R。b。七,
Proc. of sth 工JCA工, PP. 749-757, 1977・
[41Giralt, G.,R. Sobek and R. Cha・ヒila, A Mul’ヒi-Le▽el Planning
and Naviqation Sys七em for a MobUe Robo’ヒ’ Proc・ of 6’ヒh 工JCA工’
pp. 335-337, 1979.
[5] Coles, L. S.,A. M. Robb, P. L・ Sinclai:r, M・H。 Smi’ヒh and
R. R. Sobek, Decision Analysis for an Experimen’ヒal Robot wi’ヒh
an Unreliable Sensors, Proc. of 4th IJCAZ, pp. 749-757, 1975.
[6] K:anayama, Y. et.a’ヒ.’ A Self-Con’ヒained Robo’ヒ ”Yamabiko”, Proc.
3rd USA-JAPAN Comput二er Conference, PP. 246-250, 1979・
[7] 工iゴima, J. e・ヒ.al., Locomotion Control System for Mobile Robo’ヒs’
Proc. of 7th IJCA工, 1981.
一 IO 一
Figure Z Yamabico 3.1
brain.._一_へ
/
reiprocessor Imemory
: =一
console t;6i颪㎜i;瀟、
interface
bus
supersonictransmitter/receiver ×4
step motordriver
lrefgrencei
コ コ
pos■t■onde・ヒector
eye+neck
processor 匡璽]ド司bus
dc motorcontroUer
:婁:副匿轟壷
left 、つ
legs
rot二ary I-glggf2ggc o d e.F..j
right ”
Figure 2 The architecture of Yamabico 3.1
一 ll 一
Brain
Leg
userls program
monitor
.CO㎜an
monitor、
Figure 3 The brain and the leg system
y
wa11/////.1ん!/宏/
’隊
。
. ヴ
/ん/)∴堕冊’・!/’
・ /一’ //
.一
robot pathX
robot二
Figure 4 Walking along a wall
一 12 一
150((rm)
IOO
50
坐、
ee ee
no echo \
サ び ロ の ロ
「 ゆ f o φ!.「㌔ ,ρ94’ o ■ ●
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9 ◎
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wa 11 ・一
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.
..
,
の コ の の● . θ●■o●OG● ■ ■ σ●・ψG・ ■曽● ●●09 ●9 ●
TA:
N
noise da・ヒa____う ・
Txansient Area
o
Figure’ T.
50 IOO (em)・
Uneven waユls scanned by a moving eye
一 13 一
150(cm)
1 :
100t ・1 ,.」.。.。・。...・。・.・9.;.∴.1。…・,..,∴.・e.。・ρ9;
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一一一一一一一一一一一
。 50 100 (cm)
一) X
Flgure 6 A理工よ鳳ζL黛蔓翌愚孕pe¢.1. 1 frQnt
as’ seen by a moving eyeof a waU,
一 14 一
no echoes
100tl
翫蝋畑ノ.噌‘..1.1謡%儲・
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I l
i
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e 1!lI
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y
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。 50 100 (cm)
一〉 x
Figure 弼ぜ ノ し
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一 15 一
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150 ×
160 ×
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measuredvalues’
the eye Xa1
つ
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1/・se
t / tc オ ”i 1 IO
i
!畠
Figure 8 A wall, looked at by a:ro七a’ting sonic eye
一 16 一
150(㎝)
an image of a
{100 l l
〆1・漏怖1・〆・伽唖ノ1.,’w/
/ ノ
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1
1
●,
50
o
Figure 9.
iooo
Walking pe’rson,
person
a wall』↓ソ ’ ノノ//
け ゆユ
\ 2000 (mse6)
as seen by a fixed eye
一 17 一一
Y
150a(em)
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Figure 10.
__i し
50 ・ IOO X (em)
Uneven waUs after noise elimination 爆・9t,_.一...』』t;.“,._・_・…v・.’…転く...ジ7融1㌧こ,國』∴一… 「、r・、一く…』.・・一・・・・・・・…一・・
一 18 一
y
●
●
y=?
?
●
●
●
● 8畢
曜
1曹
馨
書
x-N XN
y= ax +b
x
Figure li Least squares fi・ヒti ng of 2N+l observa’ヒions
.一@19 一
(a) declaration
const maxm瓢 101ラ
コ ロ
ロ Var S■q, m, n, コ :■n’ヒeger;
s㎜y’sumxy, sumyy, y, dx, xO:realア
z:array[1・・maxm】Of real,
(b) initialiZatiOn
begin sumy:=0;sumxy:=0アsumyy==0ア
sig := 0フ
m:・=2★n+1ア
xO :・= n★・dx,
end f.rゴ’:=・’里嘩Z[II:10
(c) updating with new y
begin sumyyドs㎜yy+sqr(y)一sqr(z[m])l
sumxy:=sumxy+・xO*y+xO *・ z・[m]一(sumy-z[m])★dx;
SUmy:=SUmy+y-Z[m]ア
主皇y≠Othen sig:=sig+1ア
主皇z[m]≠0牟hen串ig・ニs⊥9-1ラ
forゴ:=mdownto 2 do z[」]:=z[」_1]ア
Z.[1]=y
end
:Figure l2 An a工go:rithm for leas七 squares fittj.ng’
一 20 一
s
30000(crn2)
20000
10000
Y
IOO‘
.
・一一一 x× 一一一 s
50
ite‘ D一 c鱒● 恃芙`●...・...の。.。・q●・.・。の、・…
e 一一 一 一 一 一e 一 一 一 一 e e e 一 一 一t 一 一 一e 一 一t一 一i . 一 一一 b e “ e一一一t e一 一 一 一 一
t一
,
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一 22 一
.I NSTITし「「E OF ELECTRON I CS AND INFORfvlATION SC I ENCE
UN I VERS I-rv OF TSUKUBA
SAKURA-iVl,UR/A:,, N i I HAR I-GUN, I BARAKI JAPAN
RE[PORT DOCUIViErvrAT I ON PAGEREPORT NUMBER
工SE-TR・一81-22
工工田L:E
A Mobile Robot with Sonic’Sensorsand i’ヒs Underst:anding of a Simple World
AUTHOR(s)
Yutaka Kanayama Un■vers■ty of Tsukubar Sakura, 工baraki 305 Japan
Shin’ichi Yuta Unlversi’ty of Tsukuba, Sakura, 1baraki 305 Japan
Jun冒ichi 工iゴima The University of Electrocommunications, Chofu, Tokyo 182 Japan
REPORT DATE
February 27, 1981
地域IN CATEGORY
Ar’ヒificial 工ntelligence
NUMBER OF PAGES
22
CR CATEGOR工ES
3・6r 5・1
KEY WORDS
Intelligent Robots, Mobile Robots, World-Understanding
Sonic Sensors, Leas’ヒ Squares Fitting
1t
ABSTRACT An ■ntelliqent self-contained.:robot, named Ya皿abico 3.l wasdevel・ped under a pr。ゴect wh・se purp。se was, in part t。 c。nstructa.r・b・t which kn。ws its p。si・ti。n in the w。rld. The r・bQt ha$tw。
m■c Mocomputer systems for七he brain and the legs, and a co㎜un↓一catエ。n$ystem between the tw・・It has f。ur supers。nic eyes,. a濫sa融a齢器モs=誌言u婁ぎ:七9:。:舗彰謡t亨w・dr’v’ng
Second’ a method for the robot to recognize a simp工e wqrld isdescribed1・Asimple meth。d is pr。P・sed f。r n・ise eユiminati。n。Then the robot l s images of a simple world ate descri:bed and ameth。d by which the r。b。t can rec・qnize straight wa「 撃撃刀@is
P「oposed・ :Least squares fitting is used fo:r the discriminatiOn.This pr・cedure qi▽es七he distance七・the wall and the directi。n:f脇tWこき搬h翻ε§c茎。茎Os鵠9豊{蓋9蹴£臨蹴・wa互ln呈1・y’
P「oposed。 The sof’ヒwa:re for all o.f this is a par・ヒ of the baSiCbra■n monitor of Yamabico 3.1。
SUPPLETv[ENTAR¥ NOTES