Integrated navigation system for indoor service robots in large-scale environments

Woojin Chung, Gunhee Kim, Munsang Kim, Chongwon Lee

Research output: Contribution to journalConference article

14 Citations (Scopus)

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 languageEnglish
Pages (from-to)5099-5104
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number5
Publication statusPublished - 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 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

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