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Li Wenfeng
College of Logistics Engineering,
Wuhan University of Technology,
Wuhan 430063, China
Christensen I. Henrik
Orebäck Anders
Centre for
Autonomous Systems,
Royal Institute of Technology,
SE-100 44 Stockholm, Sweden |
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ARCHITECTURE AND
ITS
IMPLEMENTATION FOR ROBOTS TO
NAVIGATE IN UNKNOWN INDOOR
ENVIRONMENTS*
Abstract:
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 em-ploys 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.
Key words:
Indoor navigation Architecture Framework Component Mobile robots |