Navigation Method for Autonomous Robots in a Dynamic Indoor Environment
The present paper considers issues related to navigation by autonomous mobile robots in overcrowded dynamic indoor environments (e.g., shopping malls, exhibition halls or convention centers). For robots moving among potentially unaware bystanders, safety is a key issue. A navigation method based on...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Chinese Institute of Automation Engineers (CIAE) & Taiwan Smart Living Space Association (SMART LISA)
2013-11-01
|
| Series: | International Journal of Automation and Smart Technology |
| Subjects: | |
| Online Access: | http://www.ausmt.org/index.php/AUSMT/article/view/214 |
| _version_ | 1818525528294948864 |
|---|---|
| author | Stanislav Věchet Kuo-Shen Chen Jiří Krejsa |
| author_facet | Stanislav Věchet Kuo-Shen Chen Jiří Krejsa |
| author_sort | Stanislav Věchet |
| collection | DOAJ |
| description | The present paper considers issues related to navigation by autonomous mobile robots in overcrowded dynamic indoor environments (e.g., shopping malls, exhibition halls or convention centers). For robots moving among potentially unaware bystanders, safety is a key issue. A navigation method based on mixed potential field path planning is proposed, in cooperation with active artificial landmarks-based localization, in particular the bearing of infrared beacons placed in known coordinates processed via particle filters. Simulation experiments and tests in unmodified real-world environments with the actual robot show the proposed navigation system allows the robot to successfully navigate safely among bystanders. |
| first_indexed | 2024-12-11T06:10:16Z |
| format | Article |
| id | doaj.art-0ed9b9989cbe4a3da3c14b2217c48cfc |
| institution | Directory Open Access Journal |
| issn | 2223-9766 |
| language | English |
| last_indexed | 2024-12-11T06:10:16Z |
| publishDate | 2013-11-01 |
| publisher | Chinese Institute of Automation Engineers (CIAE) & Taiwan Smart Living Space Association (SMART LISA) |
| record_format | Article |
| series | International Journal of Automation and Smart Technology |
| spelling | doaj.art-0ed9b9989cbe4a3da3c14b2217c48cfc2022-12-22T01:18:09ZengChinese Institute of Automation Engineers (CIAE) & Taiwan Smart Living Space Association (SMART LISA)International Journal of Automation and Smart Technology2223-97662013-11-013427327710.5875/ausmt.v3i4.214111Navigation Method for Autonomous Robots in a Dynamic Indoor EnvironmentStanislav Věchet0Kuo-Shen Chen1Jiří Krejsa2Brno University of Technology, Faculty of Mechanical Engineering, Czech RepublicNational Cheng Kung University, Department of Mechanical Engineering, TaiwanInstitute of Thermomechanics AS CR, v.v.i., Czech Academy of Sciences, Czech RepublicThe present paper considers issues related to navigation by autonomous mobile robots in overcrowded dynamic indoor environments (e.g., shopping malls, exhibition halls or convention centers). For robots moving among potentially unaware bystanders, safety is a key issue. A navigation method based on mixed potential field path planning is proposed, in cooperation with active artificial landmarks-based localization, in particular the bearing of infrared beacons placed in known coordinates processed via particle filters. Simulation experiments and tests in unmodified real-world environments with the actual robot show the proposed navigation system allows the robot to successfully navigate safely among bystanders.http://www.ausmt.org/index.php/AUSMT/article/view/214Particle filters, Autonomous mobile robots, Navigation in dynamic environments, Mixed potential fields |
| spellingShingle | Stanislav Věchet Kuo-Shen Chen Jiří Krejsa Navigation Method for Autonomous Robots in a Dynamic Indoor Environment International Journal of Automation and Smart Technology Particle filters, Autonomous mobile robots, Navigation in dynamic environments, Mixed potential fields |
| title | Navigation Method for Autonomous Robots in a Dynamic Indoor Environment |
| title_full | Navigation Method for Autonomous Robots in a Dynamic Indoor Environment |
| title_fullStr | Navigation Method for Autonomous Robots in a Dynamic Indoor Environment |
| title_full_unstemmed | Navigation Method for Autonomous Robots in a Dynamic Indoor Environment |
| title_short | Navigation Method for Autonomous Robots in a Dynamic Indoor Environment |
| title_sort | navigation method for autonomous robots in a dynamic indoor environment |
| topic | Particle filters, Autonomous mobile robots, Navigation in dynamic environments, Mixed potential fields |
| url | http://www.ausmt.org/index.php/AUSMT/article/view/214 |
| work_keys_str_mv | AT stanislavvechet navigationmethodforautonomousrobotsinadynamicindoorenvironment AT kuoshenchen navigationmethodforautonomousrobotsinadynamicindoorenvironment AT jirikrejsa navigationmethodforautonomousrobotsinadynamicindoorenvironment |