Autonomous Cross-Floor Navigation System for a ROS-Based Modular Service Robot

Wen Hsin Wang, Yi Hsing Chien, Hsin Han Chiang, Wei Yen Wang, Chen Chien Hsu

研究成果: 書貢獻/報告類型會議論文篇章

摘要

In this paper, we present an autonomous cross-floor navigation system including mapping, localization, path planning, and scene recognition based on robot operating system (ROS) architecture. The Gmapping algorithm is utilized to build a 2D map with a laser range-finder, and AMCL algorithm is utilized in the robot localization. Moreover, an improved A∗ algorithm is proposed to prevent robot from getting too close to the wall. Because our robot needs to navigate in the multi-floor environment, a decision system using deep convolutional neural network (DCNN) is also designed to recognize the current floor and the associated map can be download to the robot system. By training with the scene images of the featured location in each floor, the robot can recognize the current floor and then complete the navigation task. Finally, real test of our robot is conducted to demonstrate the feasibility of the proposed method.

原文英語
主出版物標題Proceedings of 2019 International Conference on Machine Learning and Cybernetics, ICMLC 2019
發行者IEEE Computer Society
ISBN(電子)9781728128160
DOIs
出版狀態已發佈 - 2019 七月
事件18th International Conference on Machine Learning and Cybernetics, ICMLC 2019 - Kobe, 日本
持續時間: 2019 七月 72019 七月 10

出版系列

名字Proceedings - International Conference on Machine Learning and Cybernetics
2019-July
ISSN(列印)2160-133X
ISSN(電子)2160-1348

會議

會議18th International Conference on Machine Learning and Cybernetics, ICMLC 2019
國家/地區日本
城市Kobe
期間2019/07/072019/07/10

ASJC Scopus subject areas

  • 人工智慧
  • 計算機理論與數學
  • 電腦網路與通信
  • 人機介面

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