A Motion-Planning System for a Domestic Service Robot
A Motion-Planning System for a Domestic Service Robot
复制标题
家庭服务机器人的运动规划系统
DOI：
10.15622/sp.60.1
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发表时间：
2018
影响因子：
--
通讯作者：
Luis Angel Contreras
中科院分区：
文献类型：
--
作者：
Marco Negrete;J. Savage;Luis Angel Contreras
Negrete M.，Savage J.，Contrera L.AMotion--家用服务机器人的规划系统。抽象的。服务机器人旨在帮助人类在非工业环境中工作，如家庭或办公室。为了实现它们的目标，服务机器人必须具备多种技能，如对象识别和操纵、人脸检测和识别、语音识别和合成、任务规划，以及最重要的一项技能，即动态环境中的导航。本文描述了一个完全实现的运动规划系统，它包括从运动和路径规划算法到空间表示和基于行为的主动导航。拟议的系统在Justina中实现，Justina是一款家用服务机器人，其设计基于ViRBot，这是一种操作虚拟和真实机器人的体系结构，包括从低层控制到符号规划的几个抽象层次。我们在模拟和真实环境中对我们的建议进行了评估，并将其与经典实现进行了比较。在测试中，我们使用了从真实环境(生物机器人实验室和Robocup@Home竞技场)获得的地图，以及从具有随机位置和形状的障碍物生成的地图。比较使用了几个参数：总行驶距离、碰撞次数、到达目标点的数量和平均执行速度。我们的建议在真实测试和模拟测试中的表现都要好得多。最后，我们在RoboCup@Home比赛的背景下展示了我们的结果，在那里该系统得到了成功的测试。
Negrete M., Savage J., Contreras L. AMotion-Planning System for a Domestic Service Robot. Abstract. Service robots are intended to help humans in non-industrial environments such as houses or offices. To accomplish their goal, service robots must have several skills such as object recognition and manipulation, face detection and recognition, speech recognition and synthesis, task planning and, one of the most important, navigation in dynamic environments. This paper describes a fully implemented motion-planning system which comprehends from motion and path planning algorithms to spatial representation and behavior-based active navigation. The proposed system is implemented in Justina, a domestic service robot whose design is based on the ViRBot, an architecture to operate virtual and real robots that encompasses several layers of abstraction, from low-level control to symbolic planning. We evaluated our proposal both in simulated and real environments and compared it to classical implementations. For the tests, we used maps obtained from real environments (the Biorobotics Laboratory and the Robocup@Home arena) and maps generated from obstacles with random positions and shapes. Several parameters were used for comparison: the total traveled distance, the number of collisions, the number of reached goal points and the average execution speed. Our proposal performed significantly better both in real and simulated tests. Finally, we show our results in the context of the RoboCup@Home competition, where the system was successfully tested.