Obstacle Handling of the holonomic-driven Interactive Behavior-Operated Shopping Trolley InBOT

Jahr:
2009

Autoren/Hrsg:
Michael Göller, Thilo Kerscher, J.Marius Zöllner, Rüdiger Dillmann

Publikationstyp:
Kongressbeitrag/Proceeding

Quelle:
IEEE Seventh International Workshop on Robot Motion and Control (RoMoCo09)

Abstract:
A main challenge in the field of service robotics is the navigation of robots in human everyday environments. Supermarkets, which are exemplary chosen here, pose a challenging scenario because they often have a cluttered and nested character. As additional challenge they are full of dynamic objects. The holonomic robot InBOT presents an approach to transfer state of the art robotics technology into all-day environments to make their benefits available for the populace. This document presents a modular approach for the flexible and reactive avoidance of obstacles in combination with a predictive obstacle handler to generate more efficient path. The reactive modules use a highly dimensional dynamic potential field approach while the deliberative part analyses the obstacles and lets the robot move on some kind of dynamic visibility graph. To achieve a high degree of modularity and extensibility these components are embedded in a behavior-based control.

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