Abstract
This paper describes an integrated navigation strategy for the autonomous service robot in large-scale indoor environments. It includes architecture of navigation system, the development of crucial navigation algorithms like map, path planning, and localization, and planning scheme such as error/fault handling. Major advantages of proposed navigation are as follows: 1) A range sensor based generalized scheme of navigation without modification of the environment 2) Intelligent navigation-related components. 3) Framework supporting the selection of multiple behaviors and error/fault handling schemes. A experimental result shows the feasibility of proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task.
| Original language | English |
|---|---|
| Pages (from-to) | 5099-5104 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2004 |
| Issue number | 5 |
| Publication status | Published - 2004 |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 2004 Apr 26 → 2004 May 1 |
Keywords
- Localization
- Navigation
- Path planning
- Petri nets
- Service robot
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering