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ICRA
2010
IEEE

Improving indoor navigation of autonomous robots by an explicit representation of doors

11 years 3 months ago
Improving indoor navigation of autonomous robots by an explicit representation of doors
— In the last decades, tremendous progress has been made in the field of autonomous indoor navigation for mobile robots. However, these approaches assume the structural part of the environment to be completely static. In practice, movable parts of scenes, e.g. doors, frequently violate this assumption which leads to poor performance. Also, mobile manipulation capabilities can only be utilized, if the robot knows about the movability of objects. In this paper, we address an important part of these problems by the explicit representation of doors as door leaves and joints. We propose to augment standard approaches to navigation like 2D occupancy grid mapping and Monte-Carlo-Localization. Our algorithm detects doors during mapping and represents their movability adequately in the map. During localization, the state of doors is estimated from measurements while it is simultaneously used to improve localization robustness and accuracy. In experimental results we demonstrate superior perf...
Matthias Nieuwenhuisen, Jörg Stückler, S
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Matthias Nieuwenhuisen, Jörg Stückler, Sven Behnke
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