Multiple mobile robot navigation using the indoor global positioning system (iGPS)

Author

Hada, Yoshiro ; Takase, Kunikatsu

Author_Institution

Graduate Sch. of Inf. Syst., Univ. of Electro-Communications, Tokyo, Japan

Volume

2

fYear

2001

fDate

2001

Firstpage

1005

Abstract

We propose a practical method of multiple mobile robot navigation aimed at the realization of service robots that deliver letters, parcels and documents in an office building. For robust execution of delivery tasks by mobile robots, navigation is important, and localization of robots is a key function for designing robust navigation. We developed a global positioning system for indoor mobile robots by using cameras distributed in the robots´ working domain. This system can execute fast and accurate localization of mobile robots. By integrating the positioning system with a deadlock free navigation algorithm for multiple mobile robots, we implemented a successful autonomous service robot system

Keywords

Global Positioning System; mobile robots; multi-robot systems; path planning; autonomous service robot system; deadlock free navigation algorithm; iGPS; indoor global positioning system; localization; multiple mobile robot navigation; positioning system; Cameras; Global Positioning System; Mobile robots; Navigation; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Service robots; System recovery;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976300

Filename

976300