Terrain assessment for service robots

Author

Gomes, P. ; Ferreira, T. ; Barata, J. ; Sousa, P. ; Pimentão, J.

Author_Institution

Holos, S.A., Aveiro, Portugal

fYear

2011

fDate

7-10 Nov. 2011

Firstpage

301

Lastpage

306

Abstract

When travelling in unfamiliar environments, a mobile service robot needs to acquire information about its surroundings in order to detect and avoid obstacles to arrive safely at its destination. This paper presents a map building solution to support mobile service robot´s navigation, for service robots equipped with a LADAR (laser detection and ranging) or similar technology. The LADAR is positioned in a way suitable for sensing in a three dimensional world and an AHRS (attitude and heading reference system) sensor is used to increase the robustness of the system to variations on the robot´s attitude. Experimental results suggest that the developed solution can be a good option for service robots driving in urban environments.

Keywords

attitude measurement; collision avoidance; mobile robots; service robots; attitude sensor; heading reference system; laser detection; laser ranging; map building solution; mobile service robot; obstacle avoidance; obstacle detection; terrain assessment; Buildings; Mobile communication; Mobile robots; Robot sensing systems; Service robots; Three dimensional displays;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society

Conference_Location

Melbourne, VIC

ISSN

1553-572X

Print_ISBN

978-1-61284-969-0

Type

conf

DOI

10.1109/IECON.2011.6119269

Filename

6119269