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http://dx.doi.org/10.5302/J.ICROS.2004.10.9.785

Development of Range Sensor Based Integrated Navigation System for Indoor Service Robots  

Kim Gunhee (KIST 지능로봇연구센터)
Kim Munsang (KIST 지능로봇연구센터)
Chung Woojin (KIST 지능로봇연구센터)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.9, 2004 , pp. 785-798 More about this Journal
Abstract
This paper introduces the development of a range sensor based integrated navigation system for a multi-functional indoor service robot, called PSR (Public Service Robot System). The proposed navigation system includes hardware integration for sensors and actuators, the development of crucial navigation algorithms like mapping, localization, and path planning, and planning scheme such as error/fault handling. Major advantages of the proposed system are as follows: 1) A range sensor based generalized navigation system. 2) No need for the modification of environments. 3) Intelligent navigation-related components. 4) Framework supporting the selection of multiple behaviors and error/fault handling schemes. Experimental results are presented in order to show the feasibility of the proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task.
Keywords
navigation system; autonomous map building; localization; path planning; discrete event control; Petri nets; service robots;
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