Autonomous mapping and navigation system in rooms and corridors for indoor support robots
Autonomous mapping and navigation system in rooms and corridors for indoor support robots
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用于室内支持机器人的房间和走廊自主测绘和导航系统
DOI：
10.1109/icma.2008.4798866
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
M. Inaba
中科院分区：
文献类型：
--
作者：
N. Hatao;K. Okada;M. Inaba
在本研究中，实现了基于激光测距仪和立体摄像机的建筑大空间移动机器人测绘导航系统。该地图被描述为拓扑走廊地图和公制房间地图的结合。拓扑走廊地图具有代表每个房间入口的节点，基于网格的房间地图具有关于障碍物位置的准确信息。利用这种映射方法，我们实现了能够完成多种远距离运动任务的室内支撑类人机器人系统。
In this research, the mapping and navigation system in a wide space in a building for mobile robots which have laser range finders and stereo cameras was achieved. The map was described as a combination of topological corridor maps and metric room maps. The topological corridor maps have nodes which represent entrances of each room, and the grid-based room maps have accurate information about positions of obstacles. Using this mapping method, we achieved the system of indoor support humanoid which can perform several tasks with long-distance movement.