Development of a Kinect-sensor-based navigation component for JAUS compliant mobile robots

Abstract

This paper describes the development of a Kinect-sensor-based navigation component for JAUS (joint architecture for unmanned systems) compliant mobile robots. To achieve robust and stable navigation, the employment of a laser range finder and a Kinect sensor enables a robot to recognize three-dimensional environments. By utilizing an acquired three-dimensional environment profile, a mobile robot can navigate an appropriate course, without colliding with obstacles. To confirm the validity of the proposed navigation algorithm, we developed a JAUS compliant navigation component. The validity of the proposed component is confirmed through preliminary experiments.