机器人导航在动态环境下的室内人类监控

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI:10.1109/ROMAN.2014.6926334

S. Iizuka, Takahiko Nakamura, Satoshi Suzuki

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引用次数: 2

摘要

提出了一种动态环境下监控机器人的导航技术。为了绘制机器人周围的环境地图，需要对机器人进行定位，并对目标位置进行寻径，使机器人能够在动态环境中自主移动。本研究采用SLAM (Simultaneous Localization and Mapping)方法获取机器人的位置和环境地图，该方法利用带特征标记的LRF进行地图绘制。利用导航函数(Navigation function)实现目标位置的寻路，导航函数是一种人工势场(Artificial Potential Field, APF)方法。导航函数将工作空间和障碍物投影到拓扑空间中，并计算APF的值。通过仿真验证了该算法的有效性，点质量机器人可以避开运动物体到达目标位置。

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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Robot Navigation in dynamic environment for an indoor human monitoring

This paper proposes a technique for navigation of a monitoring robot to watch over persons in a dynamic environment. In order to make an environmental map around the robot, localization of the robot and path finding to the target position are required so that the robot can move autonomously in the dynamic environment. In this study the position of robot and the environmental map are obtained by using Simultaneous Localization and Mapping (SLAM) which makes the map by using LRF with characteristic markers. Path finding to the target position is executed by using Navigation function that is a type of Artificial Potential Field (APF) method. Navigation function projects the work space and the obstacles to a topology space, and calculates value of APF. An effectiveness of the presented algorithm was confirmed since the point mass robot can reach the target position by avoiding moving objects through the simulation.

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The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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