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Architecture and its implementation for robots to navigate in unknown indoor environments
KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2005 (English)In: Chinese Journal of Mechanical Engineering (English Edition), ISSN 1000-9345, Vol. 18, no 3, 366-370 p.Article in journal (Refereed) Published
Abstract [en]

It is discussed with the design and implementation of an architecture for a mobile robot to navigate in dynamic and unknown indoor environments. The architecture is based on the framework of Open Robot Control Software at KTH (OROCOS@KTH), which is also discussed and evaluated to navigate indoor efficiently, a new algorithm named door-like-exit detection is proposed which employs 2D feature of a door and extracts key points of pathway from the raw data of a laser scanner. As a hybrid architecture, it is decomposed into several basic components which can be classified as either deliberative or reactive. Each component can concurrently execute and communicate with another. It is expansible and transferable and its components are reusable.

Place, publisher, year, edition, pages
2005. Vol. 18, no 3, 366-370 p.
Keyword [en]
Architecture, Component, Framework, Indoor navigation, Mobile robots
National Category
Other Engineering and Technologies
Identifiers
URN: urn:nbn:se:kth:diva-156687Scopus ID: 2-s2.0-26944499406OAI: oai:DiVA.org:kth-156687DiVA: diva2:767797
Note

QC 20141202

Available from: 2014-12-02 Created: 2014-12-02 Last updated: 2014-12-02Bibliographically approved

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