Mobile Robot Navigation Support in Living Environments

Christopher Armbrust, Jan Koch, Ulf Stocker, Karsten Berns. Mobile Robot Navigation Support in Living Environments. In Karsten Berns, Tobias Luksch, editors, Autonome Mobile Systeme 2007, 20. Fachgespräch, Kaiserslautern, 18./19. Oktober 2007. Informatik Aktuell, pages 341-346, Springer, 2007. [doi]

Abstract

Navigation and application functionality of mobile robots rely on their collision-avoiding capabilities, also known as local navigation. We present the mobile robot ARTOS (Autonomous Robot for Transport and Service) that is particularly designed to operate in living environments and therefore faces the problem of fuzzy and unstructured obstacles. The local navigation architecture is motivated regarding decisions on sensor hardware setup as well as the software layers that support and influence navigation control.