This paper discusses navigation of service robots operating inside public buildings and homes. Natrual landmarks extracted from ultrasonic and light intensity sensor data are used in route tracking and robot positioning. Cost effective and general-purpose methods are presented for route tracking on uncertain position and map information. Positioning using fuzzy logic, local route planning and trajectory based collision avoidance make it possible to track relatively complex routes with simple route descriptions.
|Title of host publication||European advanced robotics systems development|
|Subtitle of host publication||3rd EUREL Workshop and Masterclass, Robotics 2000|
|Publisher||University of Salford|
|Number of pages||8|
|Publication status||Published - 2000|
|MoE publication type||Not Eligible|
|Event||EUREL European Advanced Robotics Systems Masterclass and Conference, Robotics 2000 - Manchester, United Kingdom|
Duration: 12 Apr 2000 → 14 Apr 2000
|Conference||EUREL European Advanced Robotics Systems Masterclass and Conference, Robotics 2000|
|Period||12/04/00 → 14/04/00|
- service robots
- indoor navigation
- natrual landmarks
- route tracking
Koskinen, S. (2000). Route tracking for service robots using natural landmarks. In European advanced robotics systems development: 3rd EUREL Workshop and Masterclass, Robotics 2000 University of Salford.