A robot navigation approach based on 3D data fusion and real time path planning

Author

Walther, Marcus ; Steinhaus, Peter ; Dillmann, Rudiger

Author_Institution

Inst. for Comput. Design & Fault Tolerance, Karlsruhe, Germany

fYear

2003

fDate

30 July-1 Aug. 2003

Firstpage

45

Lastpage

50

Abstract

Efficient navigation of mobile platforms in dynamic, human centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling and path planning units. In this paper, we present implemented methods in the context of data fusion algorithms for 3D (three-dimensional) world modelling, using the models for real time path planning and platform control strategies. We also show results of the prototypic application of the system at the museum ZKM (Center for Arts and Media) in Karlsruhe.

Keywords

computer vision; computerised navigation; distributed algorithms; mobile robots; path planning; robot vision; sensor fusion; 3D data fusion; 3D world modelling; MEPHISTO; collision avoidance; distributed path planning; distributed system; dynamic environment; extensive global world modeling; human centered environment; mobile platform; mobile sensor; multiagent system; platform control; real time path planning; robot navigation system; sensor processing; three-dimensional; Collision avoidance; Context modeling; Distributed control; Humans; Navigation; Path planning; Robot control; Robot kinematics; Sensor fusion; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, MFI2003. Proceedings of IEEE International Conference on

Print_ISBN

0-7803-7987-X

Type

conf

DOI

10.1109/MFI-2003.2003.1232594

Filename

1232594