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Autonomous Robots
Erschienen in: Autonomous Robots 2/2017

27.01.2016

Vision-based maze navigation for humanoid robots

verfasst von: Antonio Paolillo, Angela Faragasso, Giuseppe Oriolo, Marilena Vendittelli

Erschienen in: Autonomous Robots | Ausgabe 2/2017

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Abstract

We present a vision-based approach for navigation of humanoid robots in networks of corridors connected through curves and junctions. The objective of the humanoid is to follow the corridors, walking as close as possible to their center to maximize motion safety, and to turn at curves and junctions. Our control algorithm is inspired by a technique originally designed for unicycle robots that we have adapted to humanoid navigation and extended to cope with the presence of turns and junctions. In addition, we prove here that the corridor following control law provides asymptotic convergence of robot heading and position to the corridor bisector even when the corridor walls are not parallel. A state transition system is designed to allow navigation in mazes of corridors, curves and T-junctions. Extensive experimental validation proves the validity and robustness of the approach.
Vorheriger Artikel Spatio-temporal stiffness optimization with switching dynamics
Nächster Artikel Stochastic mobility prediction of ground vehicles over large spatial regions: a geostatistical approach

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Fußnoten
1
We consider only the case of convergent corridor guidelines with respect to the robot direction of motion. Following corridors with divergent guidelines is limited by the dimension of the camera field of view. The approach proposed in this paper is still valid but the technical details of its application are not discussed here for lack of space.
 
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Metadaten
Titel
Vision-based maze navigation for humanoid robots
verfasst von
Antonio Paolillo
Angela Faragasso
Giuseppe Oriolo
Marilena Vendittelli
Publikationsdatum
27.01.2016
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 2/2017
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-015-9533-1

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