Development of a Kinect-sensor-based navigation component for JAUS compliant mobile robots

This paper describes the development of a Kinect-sensor-based navigation component for JAUS (joint architecture for unmanned systems) compliant mobile robots. To achieve robust and stable navigation, the employment of a laser range finder and a Kinect sensor enables a robot to recognize three-dimens...

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Hauptverfasser:	Moriyama, N., Takahashi, K., Yokota, T., Cho, T., Kobayashi, K., Watanabe, K., Kurihara, Y.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Educational institutions JAUS Kinect Lasers LRF Mobile robots Navigation Principal component analysis Robot sensing systems
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Beschreibung
Zusammenfassung:	This paper describes the development of a Kinect-sensor-based navigation component for JAUS (joint architecture for unmanned systems) compliant mobile robots. To achieve robust and stable navigation, the employment of a laser range finder and a Kinect sensor enables a robot to recognize three-dimensional environments. By utilizing an acquired three-dimensional environment profile, a mobile robot can navigate an appropriate course, without colliding with obstacles. To confirm the validity of the proposed navigation algorithm, we developed a JAUS compliant navigation component. The validity of the proposed component is confirmed through preliminary experiments.