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Conference Paper

Towards Optimal Robot Navigation in Urban Homes


Ahmad,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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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.

Cite as: https://hdl.handle.net/11858/00-001M-0000-002A-47B9-3
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.