Development and implementation of navigation system for an autonomous mobile robot working in a building environment with its real time application

15th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1989-11-06 DOI:10.1109/IECON.1989.69702

Maki Habib, S. Yuta

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引用次数: 5

Abstract

An intelligent navigation system for a autonomous mobile robot using hierarchical world map representation has been developed and implemented. This navigation system can successfully negotiate a robot's environment consisting of a network of buildings connected through common bridges. The experimental results and analysis of the implemented navigation system in a real environment are described. The developed navigation system comprises: (1) world model construction with three levels of hierarchy (building, corridor, and room); (2) two efficient techniques to plan a collision-free path to a specified goal within a known environment (in-room planning and corridor and building planning); and (3) control of the robot while executing the chosen path after abstracting the geometrical information along it from the related world model. The proposed navigation system has been demonstrated for application in a real environment that consists of a network of buildings. A real mobile robot, Yamabico.M (Level-12) that has been developed by the authors was used.<>

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建筑环境中自主移动机器人导航系统的开发与实现及其实时应用

开发并实现了一种基于分层世界地图表示的自主移动机器人智能导航系统。该导航系统可以成功地通过由普通桥梁连接的建筑物网络组成的机器人环境进行导航。介绍了所实现的导航系统在实际环境中的实验结果和分析。开发的导航系统包括:(1)建筑、走廊、房间三层世界模型结构;(2)在已知环境下规划到达指定目标的无碰撞路径的两种有效方法(室内规划和走廊与建筑规划);(3)从相关世界模型中提取所选路径沿线的几何信息后，在执行所选路径时对机器人进行控制。所提出的导航系统已在由建筑物网络组成的真实环境中进行了应用验证。一个真正的移动机器人，Yamabico。使用了作者开发的M (Level-12)。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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15th Annual Conference of IEEE Industrial Electronics Society

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