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Description
  • The present paper considers issues related to navigation by autonomous mobile robots in overcrowded dynamic indoor environments (e.g., shopping malls, exhibition halls or convention centers). For robots moving among potentially unaware bystanders, safety is a key issue. A navigation method based on mixed potential field path planning is proposed, in cooperation with active artificial landmarks-based localization, in particular the bearing of infrared beacons placed in known coordinates processed via particle filters. Simulation experiments and tests in unmodified real-world environments with the actual robot show the proposed navigation system allows the robot to successfully navigate safely among bystanders.
  • The present paper considers issues related to navigation by autonomous mobile robots in overcrowded dynamic indoor environments (e.g., shopping malls, exhibition halls or convention centers). For robots moving among potentially unaware bystanders, safety is a key issue. A navigation method based on mixed potential field path planning is proposed, in cooperation with active artificial landmarks-based localization, in particular the bearing of infrared beacons placed in known coordinates processed via particle filters. Simulation experiments and tests in unmodified real-world environments with the actual robot show the proposed navigation system allows the robot to successfully navigate safely among bystanders. (en)
Title
  • Navigation Method for Autonomous Robots in a Dynamic Indoor Environment
  • Navigation Method for Autonomous Robots in a Dynamic Indoor Environment (en)
skos:prefLabel
  • Navigation Method for Autonomous Robots in a Dynamic Indoor Environment
  • Navigation Method for Autonomous Robots in a Dynamic Indoor Environment (en)
skos:notation
  • RIV/61388998:_____/13:00421692!RIV14-AV0-61388998
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • I
http://linked.open...iv/cisloPeriodika
  • 4
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
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  • 90874
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  • RIV/61388998:_____/13:00421692
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  • particle filters; autonomous mobile robots; mixed potential fields (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • TW - Čínská republika (Tchaj-wan)
http://linked.open...ontrolniKodProRIV
  • [8C5067013A55]
http://linked.open...i/riv/nazevZdroje
  • International Journal of Automation and Smart Technology
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http://linked.open...UplatneniVysledku
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  • 3
http://linked.open...iv/tvurceVysledku
  • Krejsa, Jiří
  • Věchet, Stanislav
  • Chen, K.-S.
issn
  • 2223-9766
number of pages
http://bibframe.org/vocab/doi
  • 10.5875/ausmt.v3i4.214
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