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2015 | OriginalPaper | Chapter

Towards Optimal Robot Navigation in Domestic Spaces

Authors : Rodrigo Ventura, Aamir Ahmad

Published in: RoboCup 2014: Robot World Cup XVIII

Publisher: Springer International Publishing

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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 h of movement time.

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Footnotes
1
Subscripts F, B, L, and R stand for front, back, left, and right.
 
2
Project reference: FP7-ICT-2011-9-601033.
 
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Metadata
Title
Towards Optimal Robot Navigation in Domestic Spaces
Authors
Rodrigo Ventura
Aamir Ahmad
Copyright Year
2015
DOI
https://doi.org/10.1007/978-3-319-18615-3_26

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