{"title":"使用3D相机和激光扫描仪的室内移动机器人导航和避障","authors":"P. Kucsera","doi":"10.32565/aarms.2016.1.5","DOIUrl":null,"url":null,"abstract":"Thanks to the developing sensor technology in mobile robot navigation and obstacle avoidance there are new and affordable solutions which can be used to accomplish smooth, safe and reliable robot movement in an indoor environment. A laser scanner is a commonly used sensor for detecting obstacles as well as for navigation, but a laser scanner is unable to detect all the different obstacles and terrain features by itself. In this article complementary sensors are examined, on a real mobile robot platform. Communication between the sensors and the controller and the basic control possibilities are also discussed. Finally, an advertising mobile robot is described.","PeriodicalId":297100,"journal":{"name":"Academic and Applied Research in Military and Public","volume":"10 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Indoor Mobile Robot Navigation and Obstacle Avoidance Using a 3D Camera and Laser Scanner\",\"authors\":\"P. Kucsera\",\"doi\":\"10.32565/aarms.2016.1.5\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Thanks to the developing sensor technology in mobile robot navigation and obstacle avoidance there are new and affordable solutions which can be used to accomplish smooth, safe and reliable robot movement in an indoor environment. A laser scanner is a commonly used sensor for detecting obstacles as well as for navigation, but a laser scanner is unable to detect all the different obstacles and terrain features by itself. In this article complementary sensors are examined, on a real mobile robot platform. Communication between the sensors and the controller and the basic control possibilities are also discussed. Finally, an advertising mobile robot is described.\",\"PeriodicalId\":297100,\"journal\":{\"name\":\"Academic and Applied Research in Military and Public\",\"volume\":\"10 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-04-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Academic and Applied Research in Military and Public\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.32565/aarms.2016.1.5\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Academic and Applied Research in Military and Public","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.32565/aarms.2016.1.5","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Indoor Mobile Robot Navigation and Obstacle Avoidance Using a 3D Camera and Laser Scanner
Thanks to the developing sensor technology in mobile robot navigation and obstacle avoidance there are new and affordable solutions which can be used to accomplish smooth, safe and reliable robot movement in an indoor environment. A laser scanner is a commonly used sensor for detecting obstacles as well as for navigation, but a laser scanner is unable to detect all the different obstacles and terrain features by itself. In this article complementary sensors are examined, on a real mobile robot platform. Communication between the sensors and the controller and the basic control possibilities are also discussed. Finally, an advertising mobile robot is described.
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