ARCHITECTURE AND ITS IMPLEMENTATION FOR ROBOTS TO NAVIGATE IN UNKNOWN INDOOR ENVIRONMENTS  

作　　者：Li Wenfeng Christensen I. Henrik Oreback Anders 

机构地区：[1]College of Logistics Engineering,Wuhan University of Technology, Wuhan 430063, China [2]Centre for Autonomous Systems, Royal Institute of Technology, SE-100 44 Stockholm, Sweden

出　　处：《Chinese Journal of Mechanical Engineering》2005年第3期366-370,共5页中国机械工程学报（英文版）

基　　金：The project is supported by European Open Robot Control Software Founda-tion(No.IST-2000-31064), National Natural Science Foundation of China(No.60475031) and the Swedish Foundation for Strategic Research, Sweden.

摘　　要：It is discussed with the design and implementation of an architecture for a mobile robot to navigate in dynamic and anknown indoor environments. The architecture is based on the framework of Open Robot Control Software at KTH （OROCOS@KTH）, which is also discussed and evaluated to navigate indoor efficiently, a new algorithm named door-like-exit detection is proposed which employs 2D feature oft. door and extracts key points of pathway from the raw data of a laser scanner. As a hybrid architecture, it is decomposed into several basic components which can be classified as either deliberative or reactive. Each component can concurrently execute and communicate with another. It is expansible and transferable and its components are reusable.It is discussed with the design and implementation of an architecture for a mobile robot to navigate in dynamic and anknown indoor environments. The architecture is based on the framework of Open Robot Control Software at KTH （OROCOS@KTH）, which is also discussed and evaluated to navigate indoor efficiently, a new algorithm named door-like-exit detection is proposed which employs 2D feature oft. door and extracts key points of pathway from the raw data of a laser scanner. As a hybrid architecture, it is decomposed into several basic components which can be classified as either deliberative or reactive. Each component can concurrently execute and communicate with another. It is expansible and transferable and its components are reusable.

关 键 词：Indoor navigation Architecture Framework Component Mobile robots 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]