基于室内全球定位系统(iGPS)的多移动机器人导航

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.976300

Y. Hada, K. Takase

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引用次数: 55

摘要

针对办公大楼内投递信件、包裹和文件的服务机器人的实现，提出了一种实用的多移动机器人导航方法。为了使移动机器人鲁棒地执行递送任务，导航是重要的，而机器人的定位是设计鲁棒导航的关键功能。利用分布在机器人工作区域的摄像机，开发了室内移动机器人的全球定位系统。该系统可以实现移动机器人快速、准确的定位。通过将定位系统与多移动机器人的无死锁导航算法相结合，我们实现了一个成功的自主服务机器人系统。

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Multiple mobile robot navigation using the indoor global positioning system (iGPS)

We propose a practical method of multiple mobile robot navigation aimed at the realization of service robots that deliver letters, parcels and documents in an office building. For robust execution of delivery tasks by mobile robots, navigation is important, and localization of robots is a key function for designing robust navigation. We developed a global positioning system for indoor mobile robots by using cameras distributed in the robots' working domain. This system can execute fast and accurate localization of mobile robots. By integrating the positioning system with a deadlock free navigation algorithm for multiple mobile robots, we implemented a successful autonomous service robot system.

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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