Indoor Robot Navigation and Mapping Using Sensory Fusion

Giorgio Ballestin , Teresa Zielińska

Abstract

A mobile robot needs to perform localization and navigation tasks. In indoor environments, global localization sensors such as GPS cannot be used. Thus the robot has to build an environmental map using other available sensors (e.g., laser scanner, stereo camera, and bumpers) and localize itself on this map. The goals of this work are (i) to design and implement sensory fusion (available sensors are laser scanner, stereo camera, bumpers, and odometry) during creation of an environmental map; (ii) to perform obstacle detection during navigation; and (iii) to perform goal-driven navigation with obstacle avoidance. The work has been carried out on a Seekur Jr. robot by Adept MobileRobots, which in the state of the art uses most often the laser scanner alone. The proposed approach is a novelty technique to obtain a 3D enviromental map by merging the precision of the laser scanner with the capability of obtaining dense spatial information of the cameras.

Author Giorgio Ballestin - [Università degli Studi di Genova - Dibris]
Giorgio Ballestin,,
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, Teresa Zielińska (FPAE / IAAM)
Teresa Zielińska,,
- The Institute of Aeronautics and Applied Mechanics
Pages279-292
Publication size in sheets0.65
Book Sen Dibakar, Mohan Santhakumar, Ananthasuresh Gondi (eds.): Mechanism and Machine Science : select proceedings of Asian MMS 2018, Lecture Notes in Mechanical Engineering, 2021, Springer, ISBN 978-981-15-4476-7, 874 p.
ASJC Classification1507 Fluid Flow and Transfer Processes; 2210 Mechanical Engineering; 2202 Aerospace Engineering; 2203 Automotive Engineering
DOIDOI:10.1007/978-981-15-4477-4_20
Languageen angielski
Score (nominal)20
Score sourcepublisherList
ScoreMinisterial score = 20.0, 04-08-2020, ChapterFromConference
Publication indicators Scopus Citations = 0
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