Nao Robot Navigation System Structure Development in an Agent-Based Architecture of the RAPP Platform

Wojciech Dudek , Wojciech Szynkiewicz , Tomasz Winiarski

Abstract

This paper focuses on the development of a navigation system structure for the Nao humanoid robot in an agent-oriented distributed architecture. The proposed navigation system is a part of the RAPP framework, a cloud based robotics platform. The RAPP framework is an open-source software platform to support the creation and delivery of robotic applications, which are expected to increase the versatility and utility of robots. All navigation tasks are defined and divided into separate components. The robot navigation system consists of a relative localisation based on Extended Kalman Filter (EKF) using both IMU and odometry measurements, visual QR-code based global localization, path planning, and motion control components. A proper allocation of navigation components, in the four-agent structure of the RAPP platform, is the main goal of this work. Navigation system components are implemented using Robot Operating System and Nao robot programming framework—NAOqi. Experimental results for the Nao robot are presented to show the validity of the proposed approach.
Author Wojciech Dudek IAiIS
Wojciech Dudek,,
- The Institute of Control and Computation Engineering
, Wojciech Szynkiewicz IAiIS
Wojciech Szynkiewicz,,
- The Institute of Control and Computation Engineering
, Tomasz Winiarski IAiIS
Tomasz Winiarski,,
- The Institute of Control and Computation Engineering
Pages623-633
Publication size in sheets0.5
Book Szewczyk Roman, Kaliczyńska Małgorzata, Zieliński Cezary: Challenges in Automation, Robotics and Measurement Techniques. Proceedings of AUTOMATION-2016, March 2-4, 2016, Warsaw, Poland, Advances in Intelligent Systems and Computing, vol. 440, 2016, Springer International Publishing, ISBN 978-3-319-29356-1, [978-3-319-29357-8], 919 p., DOI:10.1007/978-3-319-29357-8
Keywords in EnglishHumanoid navigation Nao robot Agent system
DOIDOI:10.1007/978-3-319-29357-8_54
URL http://link.springer.com/chapter/10.1007/978-3-319-29357-8_54
projectRAAP Store –Robotic Applications Store for Delivering Smart User Empowering Applications. Project leader: Zieliński Cezary, , Phone: 5102, start date 01-12-2013, planned end date 30-11-2016, end date 31-01-2017, 517/J/1031/0003/, Completed
WEiTI Projekty finansowane przez MNiSW
Languageen angielski
File
Dudek i in Aut-16 Nao_automation_struktura.pdf 700.21 KB
Score (nominal)15
ScoreMinisterial score [Punktacja MNiSW] = 15.0, 27-03-2017, BookChapterSeriesAndMatConf
Ministerial score (2013-2016) [Punktacja MNiSW (2013-2016)] = 15.0, 27-03-2017, BookChapterSeriesAndMatConf
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