Terrain assessment for service robots

When travelling in unfamiliar environments, a mobile service robot needs to acquire information about its surroundings in order to detect and avoid obstacles to arrive safely at its destination. This paper presents a map building solution to support mobile service robot's navigation, for servic...

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Bibliographic Details
Main Authors: Gomes, P., Ferreira, T., Barata, J., Sousa, P., Pimentao, J.
Format: Conference Proceeding
Language:English
Subjects:
Buildings
Mobile communication
Mobile robots
Robot sensing systems
Service robots
Three dimensional displays
Online Access:Request full text
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Summary:When travelling in unfamiliar environments, a mobile service robot needs to acquire information about its surroundings in order to detect and avoid obstacles to arrive safely at its destination. This paper presents a map building solution to support mobile service robot's navigation, for service robots equipped with a LADAR (laser detection and ranging) or similar technology. The LADAR is positioned in a way suitable for sensing in a three dimensional world and an AHRS (attitude and heading reference system) sensor is used to increase the robustness of the system to variations on the robot's attitude. Experimental results suggest that the developed solution can be a good option for service robots driving in urban environments.
ISSN:1553-572X
DOI:10.1109/IECON.2011.6119269