The development of an autonomous service robot. Implementation: “Lucas”—The library assistant robot
The development of an autonomous service robot. Implementation: “Lucas”—The library assistant robot
复制标题
自主服务机器人的开发实施：“卢卡斯”——图书馆助理机器人。
DOI：
10.1007/s11370-007-0005-0
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发表时间：
2008
影响因子：
2.5
通讯作者：
D. O'Keeffe
中科院分区：
文献类型：
--
作者：
Julie Behan;D. O'Keeffe
本文介绍了一个自主的移动终端，设计，开发和实现作为图书馆助理机器人。一个完整的自主系统，结合人与机器人的互动已被开发和实现在一个真实的世界环境。机器人的发展是全面描述其定位系统，它采用了简单的图像处理技术融合测距和声纳数据，这是通过使用扩展卡尔曼滤波器（EKF）进行验证。一个成功的辅助机器人的发展所需的基本原则进行了描述，并通过应用于图书馆助理机器人的人机交互应用程序进行演示。
This paper describes an autonomous mobile device that was designed, developed and implemented as a library assistant robot. A complete autonomous system incorporating human–robot interaction has been developed and implemented within a real world environment. The robotic development is comprehensively described in terms of its localization systems, which incorporates simple image processing techniques fused with odometry and sonar data, which is validated through the use of an extended Kalman filter (EKF). The essential principles required for the development of a successful assistive robot are described and put into demonstration through a human–robot interaction application applied to the library assistant robot.