Publication
GIS map based mobile robot navigation in urban environments
Conference Article
Conference
International Conference on Advanced Robotics (ICAR)
Edition
14th
Pages
1-6
Doc link
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5174783&isnumber=5174665
File
Abstract
A Mobile robots need information about its spatial environment to solve any task in a robust, reliable and continuous form. This is usually encoded in a so-called map. We propose the use of a standard, human-readable existing GIS map for robot navigation in urban scenarios. A centralized GIS map server architecture is presented to which a robot or team of robots can connect by using a developed communication protocol. The system is scalable to large environments and large groups of robots. Furthermore it demonstrates the possibility for a robot to accurately navigate by using an already existing map which has not been constructed using the robot own sensors. Details of the implemented system architecture as well as a position tracking experiment in a real outdoor environments a University Campus, are provided.
Categories
robots.
Author keywords
GIS, mobile robots, urban navigation
Scientific reference
J. M. Mirats Tur, C. Zinggerling and A. Corominas Murtra. GIS map based mobile robot navigation in urban environments, 14th International Conference on Advanced Robotics, 2009, Munich, pp. 1-6.
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