Skip to content

Advertisement

Open Access

Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

EURASIP Journal on Advances in Signal Processing20072007:086831

https://doi.org/10.1155/2007/86831

Received: 1 December 2005

Accepted: 17 December 2006

Published: 25 February 2007

Abstract

Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media) in Karlsruhe.

Keywords

Path PlanningData FusionSensor ProcessingMobile PlatformAutonomous Robot

[123456789101112131415161718192021222324]

Authors’ Affiliations

(1)
Institute for Computer Science and Engineering (CSE), University of Karlsruhe (TH), Karlsruhe, Germany

References

  1. Kiss L, Várkonyi-Kóczy AR, Baranyi P: Autonomous navigation in a known dynamic environment. Proceedings of the 12th IEEE International Conference on Fuzzy Systems, May 2003, St. Louis, Mo, USA 1: 266-271.Google Scholar
  2. Kiss L, Várkonyi-Kóczy AR: A hybrid autonomous robot navigation method based on artificial intelligence and soft computing techniques. Proceedings of the IFAC International Conference on Intelligent Control Systems and Signal Processing (ICONS '03), April 2003, Faro, Portugal 251-256.Google Scholar
  3. Hu H, Brady JM: A bayesian approach to real-time obstacle avoidance for an intelligent mobile robot. Autonomous Robots 1994,1(1):69-92. 10.1007/BF00735343View ArticleGoogle Scholar
  4. Hu H, Brady JM, Du F, Probert P: Distributed real-time control of a mobile robot. The International Journal of Intelligent Automation and Soft Computing 1995,1(1):68-83.Google Scholar
  5. Hu H, Gu D, Brady M: Navigation and guidance of an intelligent mobile robot. Proceedings of the 2nd Euromicro Workshop on Advanced Mobile Robots (EUROBOT '97), October 1997, Brescia, Italy 104-111.View ArticleGoogle Scholar
  6. Ryu B-S, Yang HS: Integration of reactive behaviors and enhanced topological map for robust mobile robot navigation. IEEE Transactions on Systems, Man, and Cybernetics Part A: Systems and Humans 1999,29(5):474-485. 10.1109/3468.784174View ArticleGoogle Scholar
  7. Saptharishi M, Oliver CS, Diehl CP, et al.: Distributed surveillance and reconnaissance using multiple autonomous ATVs: CyberScout. IEEE Transactions on Robotics and Automation 2002,18(5):826-836. 10.1109/TRA.2002.804501View ArticleGoogle Scholar
  8. Soto A, Saptharishi M, Dolan J, Trebi-Ollennu A, Khoshla P: Cyberatvs: dynamic and distributed reconnaissance and surveillance using all-terrain UGVs. Proceedings of International Conference on Field and Service Robotics, August 1999, Pittsburgh, Pa, USA 329-334.Google Scholar
  9. Diehl CP, Saptharishi M, Hampshire JB II, Khosla PK: Collaborative surveillance using both fixed and mobile unattended ground sensor platforms. Unattended Ground Sensor Technologies and Applications, April 1999, Orlando, Fla, USA, Proceedings of SPIE 3713: 178-185.View ArticleGoogle Scholar
  10. Hoover A, Olsen BD: Real-time occupancy map from multiple video streams. Proceedings of IEEE International Conference on Robotics and Automation (ICRA '99), May 1999, Detroit, Mich, USA 3: 2261-2266.Google Scholar
  11. Lee J-H, Ando N, Yakushi T, Nakajima K, Kagoshima T, Hashimoto H: Applying intelligent space to warehouse—the first step of intelligent space project. Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '01), July 2001, Como, Italy 1: 290-295.Google Scholar
  12. Lee J-H, Hashimoto H: Controlling mobile robots in distributed intelligent sensor network. IEEE Transactions on Industrial Electronics 2003,50(5):890-902. 10.1109/TIE.2003.817488View ArticleGoogle Scholar
  13. Morioka K, Lee J-H, Hashimoto H: Human-following mobile robot in a distributed intelligent sensor network. IEEE Transactions on Industrial Electronics 2004,51(1):229-237. 10.1109/TIE.2003.821894View ArticleGoogle Scholar
  14. Weigel T: Roboter-fußball: selbstlokalisierung, weltmodellierung, pfadplanung und verhaltensbasierte kontrolle, M.S. thesis. Institut für Informatik, Albert-Ludwigs-Universitt Freiburg, Freiburg, Germany; 1999.Google Scholar
  15. Weigel T, Gutmann J-S, Dietl M, Kleiner A, Nebel B: CS Freiburg: coordinating robots for successful soccer playing. IEEE Transactions on Robotics and Automation 2002,18(5):685-699. 10.1109/TRA.2002.804041View ArticleGoogle Scholar
  16. Gutmann J-S, Hatzack W, Herrmann I, et al.: The CS Freiburg robotic soccer team: reliable self-localization, multirobot sensor integration and basic soccer skills. In RoboCup-98: Root Soccer World Cup II, Lecture Notes in Artificial Intelligence. Edited by: Asada M, Kitano H. Springer, Berlin, Germany; 1999:93-108.View ArticleGoogle Scholar
  17. Nebel B, Guttmann J-S, Hatzack W: The CS Freiburg '99 team. In RoboCup-99: Robot Soccer World Cup III, Lecture Notes in Artificial Intelligence. Springer, Berlin, Germany; 2000:703-706.View ArticleGoogle Scholar
  18. Fujii T, Asama H, Fujita T, et al.: Knowledge sharing among multiple autonomous mobile robots through indirect communication using intelligent data carriers. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '96), November 1996, Osaka, Japan 3: 1466-1471.View ArticleGoogle Scholar
  19. Fujii T, Asama H, Fujita T, Kaetsu H, Matsumoto A, Endo I: Intelligent data carrier system for cooperative behaviors emerged among collective robots. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, October 1997, Orlando, Fla, USA 1: 299-304.Google Scholar
  20. Arai Y, Fujii T, Asama H, Kaetsu H, Endo I: Realization of autonomous navigation in multirobot environment. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '98), October 1998, Victoria, Canada 3: 1999-2004.Google Scholar
  21. Kurabayashi D, Asama H: Knowledge sharing and cooperation of autonomous robots by intelligent data carrier system. Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), April 2000, San Francisco, Calif, USA 1: 464-469.Google Scholar
  22. Steinhaus P, Walther M, Giesler B, Dillmann R: 3D global and mobile sensor data fusion for mobile platform navigation. Proceedings of IEEE International Conference on Robotics and Automation (ICRA '04), May 2004, New Orleans, La, USA 4: 3325-3330.Google Scholar
  23. Steinhaus P, Ehrenmann M, Dillmann R: Eine skalierbare, verteilte Architektur zur Navigation mobiler Systeme in dynamischen Umgebungen. Autonome Mobile Systeme, November-December 1998, Karlsruhe, Germany 11-18.Google Scholar
  24. Quinlan S, Khatib O: Elastic bands: connecting path planning and control. IEEE International Conference on Robotics and Automation, May 1993, GA, USA 2: 802-807.View ArticleGoogle Scholar

Copyright

© Peter Steinhaus et al. 2007

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Advertisement