Utilize este identificador para referenciar este registo:
http://hdl.handle.net/10071/27770
Autoria: | Marques, F. Santana, P. Guedes, M. Pinto, E. Lourenço, A. Barata, J. |
Data: | 2013 |
Título próprio: | Online self-reconfigurable robot navigation in heterogeneous environments |
Título e volume do livro: | 2013 IEEE International Symposium on Industrial Electronics |
Título do evento: | 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 |
Referência bibliográfica: | Marques, F., Santana, P., Guedes, M., Pinto, E., Lourenço, A., & Barata, J. (2013). Online self-reconfigurable robot navigation in heterogeneous environments. In 2013 IEEE International Symposium on Industrial Electronics, 6563831. IEEE. https://doi.org/10.1109/ISIE.2013.6563831 |
ISSN: | 2163-5137 |
ISBN: | 978-1-4673-5193-5 |
DOI (Digital Object Identifier): | 10.1109/ISIE.2013.6563831 |
Resumo: | This paper presents a robot navigation system capable of online self-reconfiguration according to the needs imposed by the various contexts present in heterogeneous environments. The ability to cope with heterogeneous environments is key for a robust deployment of service robots in truly demanding scenarios. In the proposed system, flexibility is present at the several layers composing the robot's navigation system. At the lowest layer, proper locomotion modes are selected according to the environment's local context. At the highest layer, proper motion and path planning strategies are selected according to the environment's global context. While local context is obtained directly from the robot's sensory input, global context is inspected from semantic labels registered off-line on geo-referenced maps. The proposed system leverages on the well-known Robotics Operating System (ROS) framework for the implementation of the major navigation system components. The system was successfully validated over approximately 1 Km long experiments on INTROBOT, an all-terrain industrial-grade robot equipped with four independently steered wheels. |
Arbitragem científica: | yes |
Acesso: | Acesso Aberto |
Aparece nas coleções: | CTI-CRI - Comunicações a conferências internacionais |
Ficheiros deste registo:
Ficheiro | Tamanho | Formato | |
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conferenceobject_13304.pdf | 1,9 MB | Adobe PDF | Ver/Abrir |
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