BIM Based Indoor Navigation System of Hermes Mobile Robot

Barbara Siemiątkowska , Bogdan Harasymowicz-Boggio , Maciej Przybylski , Monika Różańska-Walczuk , Mateusz Wiśniowski , Michał Kowalski

Abstract

In this paper the problem of BIM based indoor navigation is considered. The purpose of the project is to develop the semantic navigation system of an autonomous robot using BIM (Building Information Modeling). The described representation enables semantic robot navigation with a goal specified at a various levels of abstraction. The concept of hierarchical action planning is presented, where the plan is a time-optimized path combined with a sequence of actions required for robot movement across the whole building. The navigation process is supported by semantic localization which utilizes two methods: object detection based on point clouds (the 3D camera data acquired and converted into a point cloud) and visual object detection (based on the image taken from two color cameras placed on the sides of the robot).
Author Barbara Siemiątkowska (FM / IACR)
Barbara Siemiątkowska,,
- The Institute of Automatic Control and Robotics
, Bogdan Harasymowicz-Boggio (FM / IACR)
Bogdan Harasymowicz-Boggio,,
- The Institute of Automatic Control and Robotics
, Maciej Przybylski (FM / IACR)
Maciej Przybylski,,
- The Institute of Automatic Control and Robotics
, Monika Różańska-Walczuk (FM / IACR)
Monika Różańska-Walczuk,,
- The Institute of Automatic Control and Robotics
, Mateusz Wiśniowski (FM / IACR)
Mateusz Wiśniowski,,
- The Institute of Automatic Control and Robotics
, Michał Kowalski
Michał Kowalski,,
-
Pages375-382
Publication size in sheets0.5
Book Padois Vincent: Romansy 19 - Robot Design, Dynamics and Control, 2013, Springer, ISBN 978-3709113783, 390 p.
Keywords in PolishBIM, robot mobilny, robot usługowy, Kurier, Hermes, inteligentny wózek, nawigacja w budynku, lokalizacja
Keywords in EnglishBIM, mobile robot, service robot, Courier, Hermes, intelligent vehicle, indoor navigation, localization
DOIDOI:10.1007/978-3-7091-1379-0_46
URL http://link.springer.com/chapter/10.1007%2F978-3-7091-1379-0_46
Languageen angielski
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 10.0, 10-02-2020, BookChapterMatConfByIndicator
Ministerial score (2013-2016) = 15.0, 10-02-2020, BookChapterMatConfByIndicator
Publication indicators GS Citations = 6.0
Citation count*7 (2020-09-01)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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