Title :
A robot navigation approach based on 3D data fusion and real time path planning
Author :
Walther, Marcus ; Steinhaus, Peter ; Dillmann, Rudiger
Author_Institution :
Inst. for Comput. Design & Fault Tolerance, Karlsruhe, Germany
fDate :
30 July-1 Aug. 2003
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 paper, we present implemented methods in the context of data fusion algorithms for 3D (three-dimensional) world modelling, using the models for real time path planning and platform control strategies. We also show results of the prototypic application of the system at the museum ZKM (Center for Arts and Media) in Karlsruhe.
Keywords :
computer vision; computerised navigation; distributed algorithms; mobile robots; path planning; robot vision; sensor fusion; 3D data fusion; 3D world modelling; MEPHISTO; collision avoidance; distributed path planning; distributed system; dynamic environment; extensive global world modeling; human centered environment; mobile platform; mobile sensor; multiagent system; platform control; real time path planning; robot navigation system; sensor processing; three-dimensional; Collision avoidance; Context modeling; Distributed control; Humans; Navigation; Path planning; Robot control; Robot kinematics; Sensor fusion; Sensor systems;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, MFI2003. Proceedings of IEEE International Conference on
Print_ISBN :
0-7803-7987-X
DOI :
10.1109/MFI-2003.2003.1232594
