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Navigation Method for Autonomous Robots in a Dynamic Indoor Environment
- 1.0421692 - ÚT 2014 RIV TW eng J - Journal Article
Věchet, Stanislav - Chen, K.-S. - Krejsa, Jiří
Navigation Method for Autonomous Robots in a Dynamic Indoor Environment.
International Journal of Automation and Smart Technology. Roč. 3, č. 4 (2013), s. 273-277. ISSN 2223-9766
Institutional support: RVO:61388998
Keywords : particle filters * autonomous mobile robots * mixed potential fields
Subject RIV: JD - Computer Applications, Robotics
http://www.ausmt.org/index.php/AUSMT/article/view/214/239
The present paper considers issues related to navigation by autonomous mobile robots in overcrowded dynamic indoor environments (e.g., shopping malls, exhibition halls or convention centers). For robots moving among potentially unaware bystanders, safety is a key issue. A navigation method based on mixed potential field path planning is proposed, in cooperation with active artificial landmarks-based localization, in particular the bearing of infrared beacons placed in known coordinates processed via particle filters. Simulation experiments and tests in unmodified real-world environments with the actual robot show the proposed navigation system allows the robot to successfully navigate safely among bystanders.
Permanent Link: http://hdl.handle.net/11104/0229624
Number of the records: 1