Abstract
Autonomous navigation is an essential component of an indoor mobile robot. For an interactive user experience the robot should be able to understand multiple navigational tasks and perform them as optimally as possible. User may issue multiple random destinations to the robot to reach in a scenario like finding the elderly person, but to navigate randomly may result in an inefficient robot manoeuvring and may delay the process of finding the elderly person in the environment. To enhance the navigational efficiency, ordered and organised navigation based on certain cost function is required. In this paper, we are focusing on the need of organisation of navigational tasks keeping in view the unstructured and dynamic nature of the home environment. To achieve speed and accuracy in navigation, a detailed representation of the environment and a better evaluation of the cost function to organise the tasks is required. Navigation is based on grid map generated using laser scanner and sonar sensors mounted on the small sized indoor robot, ARTOS. The Navigational Cost is used for organising the tasks and is computed using A* algorithm to determine path to the destination.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Armbrust, C., Koch, J., Stocker, U., Berns, K.: Mobile robot navigation support in living environments. In: 20. Fachgespräch Autonome Mobile Systeme (AMS), Kaiserslautern, Germany, pp. 341–346 (October 2007)
Beetz, M., Bennewitz, M.: Planning, scheduling, and plan execution for autonomous robot office couriers. In: Bergmann, R., Kott, A. (eds.) Proceedings of the Workshop Integrating Planning, Scheduling and Execution in Dynamic and Uncertain Environments at the Fourth International Conference on AI in Planning Systems (AIPS), vol. Workshop Notes 98-02. AAAI Press, Menlo Park (1998)
Cucchiara, R., Prati, A., Vezzani, R.: A multi-camera vision system for fall detection and alarm generation. Expert Systems 24(5), 334–345 (2007)
Deegan, P., Grupen, R., Hanson, A., Horrell, E., Ou, S., Riseman, E., Sen, S., Thibodeau, B., Williams, A., Xie, D.: Mobile manipulators for assisted living in residential settings. Autonomous Robots, Special Issue on Socially Assistive Robotics 24(2), 179–192 (2008)
Graf, B., Hans, M., Schraft, R.: Care-o-bot ii - development of a next generation robotic home assistant. Autonomous Robots 16(2), 193–205 (2004)
Labonte, D., Michaud, F., Boissy, P., Corriveau, H., Cloutier, R., Roux, M.: A pilot study on teleoperated mobile robots in home environments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, October 9-15, pp. 4466–4471 (2006)
Mehdi, S., Armbrust, C., Koch, J., Berns, K.: Methodology for robot mapping and navigation in assisted living environments. In: Proceedings of the Workshop on Robotics and Automation in Assistive Living Systems at the International Conference on Pervasive Technologies Related to Assistive Environments 2009 (PETRA 2009), Corfu, Greece (June 9-13, 2009)
Mei, Y., Lu, Y.H., Hu, Y., Lee, C.: Energy-efficient motion planning for mobile robots. In: IEEE International Conference on Robotics and Automation, Proceedings, ICRA 2004, vol. 5, pp. 4344–4349 (2004)
Proetzsch, M., Luksch, T., Berns, K.: The behaviour-based control architecture iB2C for complex robotic systems. In: Hertzberg, J., Beetz, M., Englert, R. (eds.) KI 2007. LNCS (LNAI), vol. 4667, pp. 494–497. Springer, Heidelberg (2007)
Quinlan, S., Khatib, O.: Elastic bands: Connecting path planning and control. In: Proceedings of IEEE Int. Conference on Robotics and Automation, Atlanta, pp. 802–807 (1993)
Sipahioglu, A., Yazici, A., Parlaktuna, O., Gurel, U.: Real-time tour construction for a mobile robot in a dynamic environment. Robot. Auton. Syst. 56(4), 289–295 (2008)
Wada, K., Shibata, T.: Living with seal robots - its sociopsychological and physiological influences on the elderly at a care house. IEEE Transactions on Robotics 23(5), 972–980 (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Mehdi, S.A., Berns, K. (2010). Ordering of Robotic Navigational Tasks in Home Environment. In: Vadakkepat, P., et al. Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15810-0_31
Download citation
DOI: https://doi.org/10.1007/978-3-642-15810-0_31
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-15809-4
Online ISBN: 978-3-642-15810-0
eBook Packages: Computer ScienceComputer Science (R0)