Amor: An autonomous mobile robot navigation system

Hans Frank Ellefsen Blaasvær, Paolo Pirjanian, Henrik I. Christensen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

Description of an Autonomous Mobile Robot Navigation System capable of performing automated office delivery tasks. The implemented prototype system
is capable of autonomously navigating from one room to another designated by the operator. This involves: navigation in a room, where the robot dynamically detects and avoid obstacles; hall navigation, where it follows the walls by a reactive scheme and finally door traversing, where the robot autonomously positions the door and passes safely through it. The only a priori knowledge
used by the system consists of a graph representation of the navigation environment, containing door positions. A priori, no knowledge is provided about the position, physical or geometrical properties of other objects in the
environment.
The results indicate that using visual capabilities enables robust goal directed mobile robot navigation systems guided by a set of carefully selected visual modules.
Additionally reactive systems based on simple sensing modalities enable safe navigation and handling of runtime contingencies.
Original languageEnglish
Title of host publicationIEEE, International Conference on Systems, Man and Cybernetics, San Antonio, Texax, 1994
Place of PublicationNew York
PublisherIEEE computer society press
Pages2266-2271
Number of pages6
Publication statusPublished - Oct 1994

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