Terrain assessment for service robots

José António Barata Oliveira; João Paulo Branquinho Pimentão; DEE Group Author; Pedro Alexandre da Costa Sousa

doi:10.1109/IECON.2011.6119269

Terrain assessment for service robots

José António Barata Oliveira, João Paulo Branquinho Pimentão, DEE Group Author, Pedro Alexandre da Costa Sousa

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

When travelling in unfamiliar environments, a mobile service robot needs to acquire information about its surroundings in order to detect and avoid obstacles to arrive safely at its destination. This paper presents a map building solution to support mobile service robot's navigation, for service robots equipped with a LADAR (laser detection and ranging) or similar technology. The LADAR is positioned in a way suitable for sensing in a three dimensional world and an AHRS (attitude and heading reference system) sensor is used to increase the robustness of the system to variations on the robot's attitude. Experimental results suggest that the developed solution can be a good option for service robots driving in urban environments.

Original language	Unknown
Title of host publication	IEEE Industrial Electronics Society
Pages	301-306
Volume	-
DOIs	https://doi.org/10.1109/IECON.2011.6119269
Publication status	Published - 1 Jan 2011
Event	37th Annual Conference on IEEE Industrial Electronics Society - Duration: 1 Jan 2011 → …

Conference

Conference	37th Annual Conference on IEEE Industrial Electronics Society
Period	1/01/11 → …

Access to Document

10.1109/IECON.2011.6119269

http://www.scopus.com/inward/record.url?partnerID=yv4JPVwI&eid=2-s2.0-84856547105&md5=104d7b38d022bf076d1d0af24e8ecd41

Cite this

Barata Oliveira, J. A., Pimentão, J. P. B., DEE Group Author, & Sousa, P. A. D. C. (2011). Terrain assessment for service robots. In IEEE Industrial Electronics Society (Vol. -, pp. 301-306) https://doi.org/10.1109/IECON.2011.6119269

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N2 - When travelling in unfamiliar environments, a mobile service robot needs to acquire information about its surroundings in order to detect and avoid obstacles to arrive safely at its destination. This paper presents a map building solution to support mobile service robot's navigation, for service robots equipped with a LADAR (laser detection and ranging) or similar technology. The LADAR is positioned in a way suitable for sensing in a three dimensional world and an AHRS (attitude and heading reference system) sensor is used to increase the robustness of the system to variations on the robot's attitude. Experimental results suggest that the developed solution can be a good option for service robots driving in urban environments.

AB - When travelling in unfamiliar environments, a mobile service robot needs to acquire information about its surroundings in order to detect and avoid obstacles to arrive safely at its destination. This paper presents a map building solution to support mobile service robot's navigation, for service robots equipped with a LADAR (laser detection and ranging) or similar technology. The LADAR is positioned in a way suitable for sensing in a three dimensional world and an AHRS (attitude and heading reference system) sensor is used to increase the robustness of the system to variations on the robot's attitude. Experimental results suggest that the developed solution can be a good option for service robots driving in urban environments.

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