S.A. Mehdi, Christopher Armbrust, J. Koch, K. Berns. Methodology for Robot Mapping and Navigation in Assisted Living Environments. In Proceedings of the Workshop on Robotics and Automation in Assistive Living Systems at the International Conference on Pervasive Technologies Related to Assistive Environments 2009 (PETRA 2009). Corfu, Greece, June 9-13 2009.
Robust navigation in living environments demands high requirements on the control system of a robot. Due to typically narrow passages between obstacles, precise navigation is required. To achieve accuracy in navigation, detailed representation of the environment around the robot needs to be developed. Robust and precise mapping of the environment helps in overcoming the dynamics in the living environment like movement of furniture and human beings. Prompt recovery from unreachable paths while navigating is also an essential component of the living environment robots. This paper describes a behaviour-based navigation system in assisted living environments. The navigation system uses a grid map created from data obtained from laser scanner andultrasonic sensors mounted on a small sized robot, ARTOS. ARTOS is specially designed for indoor living environments able to navigate through narrow corridors and closely placed furniture in the living environment.