Abstract
In the last few years the market of robotics has significantly changed and the growing sector of service robotics requires new considerations in civil engineering. This paper investigates different room and furniture arrangements in the view of mobile robot navigation requirements. The described method provides robot motion and path planning cost functions for different furniture arrangements and floor maps. During mobile robot path planning ISO 7176-10:2008 and ISO 7176-5:2008 (electrically powered wheelchair) compatible buildings were considered to find the optimal solutions over the minimal standardized requirements. The proposed method can provide efficient results regarding navigation error, time and power consumption.
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