{"title":"基于kinect传感器的JAUS兼容移动机器人导航组件的开发","authors":"Naruhito Moriyama, Kazunari Takahashi, Tadayuki Yokota, Takumi Cho, Kazuyuki Kobayashi, Kajiro Watanabe, Y. Kurihara","doi":"10.1109/SCIS-ISIS.2012.6505072","DOIUrl":null,"url":null,"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.","PeriodicalId":411966,"journal":{"name":"2012 Proceedings of SICE Annual Conference (SICE)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Development of a Kinect-sensor-based navigation component for JAUS compliant mobile robots\",\"authors\":\"Naruhito Moriyama, Kazunari Takahashi, Tadayuki Yokota, Takumi Cho, Kazuyuki Kobayashi, Kajiro Watanabe, Y. Kurihara\",\"doi\":\"10.1109/SCIS-ISIS.2012.6505072\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":411966,\"journal\":{\"name\":\"2012 Proceedings of SICE Annual Conference (SICE)\",\"volume\":\"19 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-10-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 Proceedings of SICE Annual Conference (SICE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SCIS-ISIS.2012.6505072\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 Proceedings of SICE Annual Conference (SICE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SCIS-ISIS.2012.6505072","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Development of a Kinect-sensor-based navigation component for JAUS compliant mobile robots
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.
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