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  Towards Optimal Robot Navigation in Urban Homes

Ventura, R., & Ahmad, A. (2015). Towards Optimal Robot Navigation in Urban Homes. In R. Costa Bianchi (Ed.), RoboCup 2014: Robot World Cup XVIII (pp. 318-331). Cham, Switzerland: Springer.

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Ventura, R, Author
Ahmad, A1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 Abstract: The work presented in this paper is motivated by the goal of dependable autonomous navigation of mobile robots. This goal is a fundamental requirement for having autonomous robots in spaces such as domestic spaces and public establishments, left unattended by technical staff. In this paper we tackle this problem by taking an optimization approach: on one hand, we use a Fast Marching Approach for path planning, resulting in optimal paths in the absence of unmapped obstacles, and on the other hand we use a Dynamic Window Approach for guidance. To the best of our knowledge, the combination of these two methods is novel. We evaluate the approach on a real mobile robot, capable of moving at high speed. The evaluation makes use of an external ground truth system. We report controlled experiments that we performed, including the presence of people moving randomly nearby the robot. In our long term experiments we report a total distance of 18 km traveled during 11 hours of movement time.

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 Dates: 2015
 Publication Status: Published in print
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 Identifiers: DOI: 10.1007/978-3-319-18615-3_26
BibTex Citekey: VenturaA2014
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Title: 18th Annual RoboCup International Symposium 2014
Place of Event: João Pessoa, Brazil
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Title: RoboCup 2014: Robot World Cup XVIII
Source Genre: Proceedings
 Creator(s):
Costa Bianchi, R.A., Editor
Affiliations:
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Publ. Info: Cham, Switzerland : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 318 - 331 Identifier: ISBN: 978-3-319-18614-6

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Title: Lecture Notes in Computer Science ; 8992
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