Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

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

실내용 서비스 로봇을 위한 거리 센서 기반의 통합 자율 주행 시스템 개발

  • Published : 2004.09.01
Download PDF
⟨ Previous Next ⟩

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

References

  1. S. Thrun, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, and D. Fox, 'MINERVA : A Second-Generation Museum Tour-Guide Robot,' Proc. of IEEE Int. Conf. Robotics and Automation, pp. 1999-2005, 1999 https://doi.org/10.1109/ROBOT.1999.770401
  2. R. Simmons, R. Goodwin, S. Koenig, J. O'Sullivan, and G. Armstrong, 'Xavier: An Autonomous Mobile Robot on the Web,' in Beyond Webcams: An Introduction to Online Robots, edited by K. Goldberg and R. Siegwart, MIT Press. MA Cambridge, 2002
  3. B. Graf, M. Hans, and R. D. Schraft, 'Care-O-bot II-Development of a Next Generation Robotics Home Assistant,' Autonomous Robots, vol. 16, pp. 203-222, 2003 https://doi.org/10.1023/B:AURO.0000016865.35796.e9
  4. J. C Latombe, Robot Motion Planning, Kluwer Academic Publishers, UK, 1996
  5. M. Khatib, H. Jaouni, R. Chatila, J. P. Laumond, 'Dynamic path modification for car-like nonholonomic mobile robots,' Proc. of IEEE Int. Conf. Robotics and Automation, pp. 2920-2925. 1997 https://doi.org/10.1109/ROBOT.1997.606730
  6. R. Siegwart, K. O. Arras, S. Bouabdallah, D. Burnier, G. Froidevaux, X. Greppin, B. Jensen, A. Lorotte, L. Mayor, M. Meisser, R. Philippsen, R. Piguet, G. Ramel, G. Terrien, and N. Tomatis, 'Robox at Expo.02 : A large-scale installation of personal robots,' Robotics and Autonomous Systems, vol. 42, no. 3-4, pp. 203-222, 2003 https://doi.org/10.1016/S0921-8890(02)00376-7
  7. K. Arras, R. Philippsen, N. Tomatis, M. Battista, M. Schilt, and R. Siegwart, 'A Navigation Framework for Multiple Mobile Robots and its Application at the Expo.02 Exhibition,' Proc. of the IEEE Int. Conf. Robotics and Automation, pp. 1992-1999, 2003 https://doi.org/10.1109/ROBOT.2003.1241886
  8. http://www.deltatau-com/
  9. W. Chung, K. Kim, J. Lee, T. Lee, B. Kang, M. Kim, and C. Lee, 'Design and Control of the Indoor Public Service Robot,' Proc. of the IFAC Workshop on Mobile Robot Technology, pp. 303-308, 2001
  10. G. Kim, W. Chung, M. Kim, and C. Lee, 'Tripodal Schematic Design of the Control Architecture for the Service Robot PSR,' Proc. IEEE Int. Conf. Robotics and Automation, pp. 2792-2797, 2003 https://doi.org/10.1109/ROBOT.2003.1242015
  11. G. Kim, W. Chung, M. Kim, and C. Lee, 'Implementation of Multi-Functional Service Robots Using Tripodal Schematic Control Architecture,' Proc. IEEE Int. Conf. Robotics and Automation, pp. 4005-4010, 2004
  12. Borenstein, J. and Koren, Y., 'Histogramic In-Motion Mapping for Mobile Robot Obstacle Avoidance,' IEEE Transaction on Robotics and Automation, Vol.7, No.4, pp.535-539, 1991 https://doi.org/10.1109/70.86083
  13. D. Lee, W. Chung, and M. Kim, 'A Reliable Position Estimation Method of the Service Robot by Map Matching,' Proc. IEEE Int. Conf. Robotics and Automation, pp. 2830-2835, 2003
  14. D. Lee, W. Chung, and M. Kim, 'Integrated Localization of the Service Robot PSR,' Proc. IEEE Int. Conf. Robotics and Automation, pp. 4017-4022, 2004 https://doi.org/10.1109/ROBOT.2004.1308899
  15. D. Lee, W. Chung, and M. Kim, 'Autonomous map building and smart localization of the service robot PSR,' Proc. IEEE/RSJ Int. Conf. Intelligent Robots and systems, pp. 454-459, 2003 https://doi.org/10.1109/IROS.2003.1250671
  16. F. Dellaert, D. Fox, W. Burgard, and S. Thrun, 'Monte carlo localization for mobile robots,' Proc. IEEE Int. Conf. Robotics and Automation, pp. 1322-1328, 1999 https://doi.org/10.1109/ROBOT.1999.772544
  17. K. Konolige, 'A Gradient Method for Realtime Robot Control,' In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and systems, pp. 639-646, 2000 https://doi.org/10.1109/IROS.2000.894676
  18. T. Murata, 'Petri Nets: Properties, Analysis and Application,' In Proceedings of the IEEE, Vol. 77, No. 4, 1989 https://doi.org/10.1109/5.24143
  19. R. Zurawski and M. Zhou, 'Petri nets and industrial applications: A Tutorial,' IEEE Trans. Industrial Electronics, vol. 41, no. 6, pp. 567-583, 1994 https://doi.org/10.1109/41.334574
  20. J. Oh, J. Park, Y. Choi, 'Complete coverage navigation of clean robot based on triangular cell map,' Proc. of IEEE Int. Symp. Industrial Electronics, pp. 2089-2093, 2001 https://doi.org/10.1109/ISIE.2001.932038