In the mobilerobotic systems a precise estimate of the robot pose (Cartesian [x y] position plus orientation angle theta) with the intention of the path planning optimization is essential for the correct performance,...
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In the mobilerobotic systems a precise estimate of the robot pose (Cartesian [x y] position plus orientation angle theta) with the intention of the path planning optimization is essential for the correct performance, on the part of the robots, for tasks that are destined to it, especially when intention is for mobile robot autonomous navigation. This work uses a ToF (Time-of-Flight) of the RF digital signal interacting with beacons for computational triangulation in the way to provide a pose estimative at bi-dimensional indoor environment, where GPS system is out of range. It’s a new technology utilization making good use of old ultrasonic ToF methodology that takes advantage of high performance multicore DSP processors to calculate ToF of the order about ns. Sensors data like odometry, compass and the result of triangulation Cartesian estimative, are fused in a Kalman filter in the way to perform optimal estimation and correct robot pose. A mobilerobot platform with differential drive and nonholonomic constraints is used as base for state space, plants and measurements models that are used in the simulations and for validation the experiments.
Industrial and mobilerobots demand reliable and safe navigation capabilities to operate in human populated environments such as advanced manufacturing industries and logistics warehouses. Currently mobilerobot platf...
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ISBN:
(纸本)9789897583803
Industrial and mobilerobots demand reliable and safe navigation capabilities to operate in human populated environments such as advanced manufacturing industries and logistics warehouses. Currently mobilerobot platforms can navigate through their environment avoiding coworkers in the shared workspace, considering them as static or dynamic obstacles. This strategy is efficient for safety, strictly speaking, but is not sufficient to provide humans integrity and comfortable working conditions. To this end, this paper proposes a human-aware navigation framework for comfortable, reliable and safely navigation designed to run in real-time on a mobilerobot platform in logistics warehouses. This is accomplished by estimating human localization using RGB-D detector, then generating a virtual circular obstacle enclosing human pose. This virtual obstacle is then fused with the 2D laser range scan and used in ROS navigation stack local costmap for human-aware navigation. This strategy guarantees a different approach distance to obstacles depending on the human or non-human nature of the obstacle. Hence the mobilerobot can approach closely to pallet to pick up objects while maintaining an integrity distance to humans. The reliability of the proposed framework is demonstrated in a workbench of experiments using simulated mobilerobotnavigation in logistics warehouses environment.
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