Abstract
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.
Highlights
The problem of navigating mobile systems in dynamic indoor environments is one of the basic problems in the area of mobile robots
As mobile robots can be seen as actuators of these intelligent buildings, it seems almost intuitive to combine both techniques, mobile robots and sensor networks, to solve the problem of efficient navigation in dynamic human-centered indoor environments
One is in the field of robot soccer, where the soccer playing robots share their sensor data with each other and a central external instance. Another is in the approach of the intelligent data carrier (IDC), where the external distributed components store regional environment information that is gathered by mobile systems
Summary
The problem of navigating mobile systems in dynamic indoor environments is one of the basic problems in the area of mobile robots. In [10] a distributed camera network is used in combination with a centralized computing instance to build 2D obstacle maps for use by mobile systems using the freespace approach. The scalability of this approach to wide scenarios is limited due to the monolithic system design. One is in the field of robot soccer (see [14,15,16,17]), where the soccer playing robots share their sensor data with each other and a central external instance Another is in the approach of the intelligent data carrier (IDC) (see [18,19,20,21]), where the external distributed components store regional environment information that is gathered by mobile systems.
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