Robust Navigation System Based on RFID Transponder Barriers for the Interactive Behavior-Operated Shopping Trolley InBOT

Jahr:
2009

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

Publikationstyp:
Zeitschriftenartikel

Quelle:
Volume 4, Issue 36 of the international Journal Industrial Robot, Emerald Group Publishing Limited

URL:
http://www.emeraldinsight.com/Insight/viewContentItem.do?contentType=Article&contentId=1795612

Abstract:
Purpose - This paper presents a navigation system designed for highly dynamic environments which is independent from a metrically exact global map. Design/methodology/approach - A navigation system is developed to cope with highly dynamic environments. Here this refers especially to changes in the environment itself, like the daily deployment or removal of advertisements or special offers in a supermarket. The navigation system is split into a global part, relying on non-concealable artificial landmarks and a local part containing a behavior-based control using a dynamic potential field approach. The required information are the definitively static structures and the actual sensor information only. Findings - The system proved to be useful in environments that change frequently and where the presence of many people complicates the perception of landmarks. Practical implications - The presented navigation system is robust against changes in the environment and provides reliable collision avoidance capabilities. Originality/value - It is a useful navigation system for autonomous robots dedicated to frequently changing and populated environments.

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