tailieunhanh - Báo cáo hóa học: " Research Article Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion"

Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Research Article Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion | Hindawi Publishing Corporation EURASIP Journal on Advances in Signal Processing Volume 2007 Article ID 86831 10 pages doi 2007 86831 Research Article Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion Peter Steinhaus Marcus Strand and Rudiger Dillmann Institute for Computer Science and Engineering CSE University of Karlsruhe TH Haid-und-Neu-Strafe 7 76131 Karlsruhe Germany Received 1 December 2005 Revised 14 July 2006 Accepted 17 December 2006 Recommended by Ching-Yung Lin Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture MEPHISTO for a navigation system that is able to fulfill the main requirements of efficient navigation fast and reliable sensor processing extensive global world modeling and distributed path planning. Our architecture uses a distributed system of sensor processing world modeling and path planning units. In this arcticle we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM center for art and media in Karlsruhe. Copyright 2007 Peter Steinhaus et al. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use distribution and reproduction in any medium provided the original work is properly cited. 1. INTRODUCTION The problem of navigating mobile systems in dynamic indoor environments is one of the basic problems in the area of mobile robots. Starting not long ago as a first trend service robots and especially humanoid robots address more and more human-centered working spaces so the problem of efficient navigation in such dynamic scenarios seems to be very important. As a second trend sensor and computing technologies become cheaper faster and smaller enabling the design and implementation of huge