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Título: | GIS map based mobile robot navigation in urban environments |
Autor: | Mirats-Tur, Josep M. CSIC; Zinggerling, Claudio; Corominas Murtra, Andreu CSIC ORCID | Fecha de publicación: | 2009 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | International Conference on Advanced Robotics: 1-6 (2009) | Resumen: | A Mobile robots need information about its spatial environment to solve any task in a robust, reliable and continuous form. This is usually encoded in a so-called map. We propose the use of a standard, human-readable existing GIS map for robot navigation in urban scenarios. A centralized GIS map server architecture is presented to which a robot or team of robots can connect by using a developed communication protocol. The system is scalable to large environments and large groups of robots. Furthermore it demonstrates the possibility for a robot to accurately navigate by using an already existing map which has not been constructed using the robot own sensors. Details of the implemented system architecture as well as a position tracking experiment in a real outdoor environments a University Campus, are provided. | Descripción: | Presentado al 14th ICAR celebrado en Múnich (Alemania) del 22 al 26 de junio de 2009. | URI: | http://hdl.handle.net/10261/30130 | ISBN: | 978-1-4244-4855-5 |
Aparece en las colecciones: | (IRII) Libros y partes de libros |
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GIS map based.pdf | 303,54 kB | Adobe PDF | Visualizar/Abrir |
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