Blacky, an interactive mobile robot at a trade fair
Blacky, an interactive mobile robot at a trade fair
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Blacky，展会上的交互式移动机器人
DOI：
10.1109/robot.2002.1014341
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
A. Jiménez
中科院分区：
文献类型：
--
作者：
D. Rodríguez;F. Matía;R. Galán;A. Jiménez
介绍了第一种方法的主要目标是开发一个完全自主的机器人，作为一个本地和远程指南在贸易展览会。提供创新的解决方案来解决在这种环境中发现的几个问题。执行反应感知行为以提供运动，而低级别控制器避免冲突。一个虚拟的走廊地图，模拟感知，和一个扩展的卡尔曼滤波器定位，用来克服缺乏感知。语音合成被证明是一个有效的辅助导航，以及为系统的整体成功和接受。使用Denning Mrv4机器人Blacky在实际环境中进行了三次实验，所获得的结论对未来的研究很有希望。
Presents the first approach towards the main goal of developing a completely autonomous robot that serves as a local and remote guide at a trade fair. Innovative solutions are provided to solve several problems found in this environment. Reactive-perceptual behaviors are executed to provide motion while a low level controller avoids collisions. A virtual corridor map, simulated perception, and an extended Kalman filter for localization, are used to overcome the lack of perception. Voice synthesizing is proved to be an effective aid for navigation, as well as for the overall success and acceptance of the system. A Denning Mrv4 robot called Blacky was used to carry out experiments in actual environments on three occasions, and the obtained conclusions sound promising for future research.