BIM Based Indoor Navigation System of Hermes Mobile Robot
Barbara Siemiątkowska , Bogdan Harasymowicz-Boggio , Maciej Przybylski , Monika Różańska-Walczuk , Mateusz Wiśniowski , Michał Kowalski
AbstractIn 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).
|Publication size in sheets||0.5|
|Book||Padois Vincent: Romansy 19 - Robot Design, Dynamics and Control, 2013, Springer, ISBN 978-3709113783, 390 p.|
|Keywords in Polish||BIM, robot mobilny, robot usługowy, Kurier, Hermes, inteligentny wózek, nawigacja w budynku, lokalizacja|
|Keywords in English||BIM, mobile robot, service robot, Courier, Hermes, intelligent vehicle, indoor navigation, localization|
|Score|| = 10.0, 10-02-2020, BookChapterMatConfByIndicator|
= 15.0, 10-02-2020, BookChapterMatConfByIndicator
|Publication indicators||= 6.0|
|Citation count*||7 (2020-09-01)|
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.