Architecture and its implementation for robots to navigate in unknown indoor environments
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
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.
Architecture, Component, Framework, Indoor navigation, Mobile robots
Other Engineering and Technologies
IdentifiersURN: urn:nbn:se:kth:diva-156687ScopusID: 2-s2.0-26944499406OAI: oai:DiVA.org:kth-156687DiVA: diva2:767797
QC 201412022014-12-022014-12-022014-12-02Bibliographically approved