抄録
An intelligent navigation system for an autonomous mobile robot using hierarchical world map representation has been developed and implemented. This navigation system can successfully negotiate a robot's environment consisting of a network of buildings connected through common bridges. The experimental results and analysis of the implemented navigation system in a real environment are described. The developed navigation system comprises: (1) world model construction with three levels of hierarchy (building, corridor, and room); (2) two efficient techniques to plan a collision-free path to a specified goal within a known environment (in-room planning and corridor and building planning); and (3) control of the robot while executing the chosen path after abstracting the geometrical information along it from the related world model. The proposed navigation system has been demonstrated for application in a real environment that consists of a network of buildings. A real mobile robot, Yamabico.M (Level-12) that has been developed by the authors was used.
| 元の言語 | English |
|---|---|
| ホスト出版物のタイトル | IECON Proceedings (Industrial Electronics Conference) |
| 編集者 | Anon |
| 出版場所 | Los Alamitos, CA, United States |
| 出版者 | Publ by IEEE |
| ページ | 613-622 |
| ページ数 | 10 |
| 巻 | 3 |
| 出版物ステータス | Published - 1989 |
| 外部発表 | Yes |
| イベント | 15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 - Philadelphia, PA, USA 継続期間: 1989 11 6 → 1989 11 10 |
Other
| Other | 15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 |
|---|---|
| 市 | Philadelphia, PA, USA |
| 期間 | 89/11/6 → 89/11/10 |
Fingerprint
ASJC Scopus subject areas
- Electrical and Electronic Engineering
これを引用
Images of the Twenty-First Century - Proceedings of the 11th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Part 2. / Habib, Maki K.; Yuta, Shinichi.
IECON Proceedings (Industrial Electronics Conference). 版 / Anon. 巻 3 Los Alamitos, CA, United States : Publ by IEEE, 1989. p. 613-622.研究成果: Conference contribution
}
TY - GEN
T1 - Images of the Twenty-First Century - Proceedings of the 11th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Part 2
AU - Habib, Maki K.
AU - Yuta, Shinichi
PY - 1989
Y1 - 1989
N2 - An intelligent navigation system for an autonomous mobile robot using hierarchical world map representation has been developed and implemented. This navigation system can successfully negotiate a robot's environment consisting of a network of buildings connected through common bridges. The experimental results and analysis of the implemented navigation system in a real environment are described. The developed navigation system comprises: (1) world model construction with three levels of hierarchy (building, corridor, and room); (2) two efficient techniques to plan a collision-free path to a specified goal within a known environment (in-room planning and corridor and building planning); and (3) control of the robot while executing the chosen path after abstracting the geometrical information along it from the related world model. The proposed navigation system has been demonstrated for application in a real environment that consists of a network of buildings. A real mobile robot, Yamabico.M (Level-12) that has been developed by the authors was used.
AB - An intelligent navigation system for an autonomous mobile robot using hierarchical world map representation has been developed and implemented. This navigation system can successfully negotiate a robot's environment consisting of a network of buildings connected through common bridges. The experimental results and analysis of the implemented navigation system in a real environment are described. The developed navigation system comprises: (1) world model construction with three levels of hierarchy (building, corridor, and room); (2) two efficient techniques to plan a collision-free path to a specified goal within a known environment (in-room planning and corridor and building planning); and (3) control of the robot while executing the chosen path after abstracting the geometrical information along it from the related world model. The proposed navigation system has been demonstrated for application in a real environment that consists of a network of buildings. A real mobile robot, Yamabico.M (Level-12) that has been developed by the authors was used.
UR - http://www.scopus.com/inward/record.url?scp=0024888319&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0024888319&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0024888319
VL - 3
SP - 613
EP - 622
BT - IECON Proceedings (Industrial Electronics Conference)
A2 - Anon, null
PB - Publ by IEEE
CY - Los Alamitos, CA, United States
ER -