LiAS: a reflexive navigation architecture for an intelligent mobile robot system
In this paper, a complete hierarchical navigation architecture fur applications in real industrial factory environments is presented. An offline global geometrical planner uses a rough CAD-model of the working environment to plan consecutive via-points which the robot must follow. The navigation bet...
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| Veröffentlicht in: | IEEE transactions on industrial electronics (1982) 1996-06, Vol.43 (3), p.432-440 |
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| container_title | IEEE transactions on industrial electronics (1982) |
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| creator | Vandorpe, J. Van Brussel, H. Xu, H. |
| description | In this paper, a complete hierarchical navigation architecture fur applications in real industrial factory environments is presented. An offline global geometrical planner uses a rough CAD-model of the working environment to plan consecutive via-points which the robot must follow. The navigation between the via-points is performed by a two-level online navigation algorithm. It consists of an online planning module combined with a low-level fuzzy logic avoidance behavior which enables the robot to move to the next goal by only specifying its coordinates in even completely a priori unknown and unstructured factory environments. The system includes a docking motion, based on a dynamic guidance technique. A perception fusion module combines information of three different sensors for accurate modeling of the world. The presented navigation method was tested with the mobile robot Leuven Intelligent Autonomous System (LiAS) and it proved to be useful in real world applications. |
| doi_str_mv | 10.1109/41.499816 |
| format | Article |
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An offline global geometrical planner uses a rough CAD-model of the working environment to plan consecutive via-points which the robot must follow. The navigation between the via-points is performed by a two-level online navigation algorithm. It consists of an online planning module combined with a low-level fuzzy logic avoidance behavior which enables the robot to move to the next goal by only specifying its coordinates in even completely a priori unknown and unstructured factory environments. The system includes a docking motion, based on a dynamic guidance technique. A perception fusion module combines information of three different sensors for accurate modeling of the world. The presented navigation method was tested with the mobile robot Leuven Intelligent Autonomous System (LiAS) and it proved to be useful in real world applications.</description><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Exact sciences and technology</subject><subject>Fuzzy logic</subject><subject>Intelligent robots</subject><subject>Intelligent sensors</subject><subject>Motion planning</subject><subject>Navigation</subject><subject>Production facilities</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><subject>Robotics</subject><subject>Sensor fusion</subject><subject>Service robots</subject><issn>0278-0046</issn><issn>1557-9948</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>1996</creationdate><recordtype>article</recordtype><recordid>eNqFkU1LAzEQhoMoWKsHr55yEMHD1kw2m2S9leIXFBTU85JNZ2tku1uTtNh_b6Sl1x6GGZjnfZkPQi6BjQBYeSdgJMpSgzwiAygKlZWl0MdkwLjSGWNCnpKzEL4ZA1FAMSBvUzd-v6eGemxa_HVrpJ1Zu7mJru-o8fbLRbRx5ZE2vaemo66L2LZujl2ki752LVLf132kYRMiLs7JSWPagBe7PCSfjw8fk-ds-vr0MhlPM5tLHbOZUii5ElygMEybVAO3srF5jikaVoOc1aiFldgoxWa81kxpgWBqKaDIh-Rm67v0_c8KQ6wWLtg0memwX4WKlzkvkuQwqHNZcOCHQQkaFIcE3m5B6_sQ0uGqpXcL4zcVsOr_C5WAavuFxF7vTE2wpm286awLe0EOuUrrJOxqizlE3Hd3Hn_4TI32</recordid><startdate>19960601</startdate><enddate>19960601</enddate><creator>Vandorpe, J.</creator><creator>Van Brussel, H.</creator><creator>Xu, H.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>8FD</scope><scope>L7M</scope><scope>7TB</scope><scope>FR3</scope></search><sort><creationdate>19960601</creationdate><title>LiAS: a reflexive navigation architecture for an intelligent mobile robot system</title><author>Vandorpe, J. ; Van Brussel, H. ; Xu, H.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c368t-d77e627424e4a08a62712c6fc33ec33f0b16dbe84c6ef770d2b80784e1ab64153</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>1996</creationdate><topic>Applied sciences</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Exact sciences and technology</topic><topic>Fuzzy logic</topic><topic>Intelligent robots</topic><topic>Intelligent sensors</topic><topic>Motion planning</topic><topic>Navigation</topic><topic>Production facilities</topic><topic>Robot kinematics</topic><topic>Robot sensing systems</topic><topic>Robotics</topic><topic>Sensor fusion</topic><topic>Service robots</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Vandorpe, J.</creatorcontrib><creatorcontrib>Van Brussel, H.</creatorcontrib><creatorcontrib>Xu, H.</creatorcontrib><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Engineering Research Database</collection><jtitle>IEEE transactions on industrial electronics (1982)</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Vandorpe, J.</au><au>Van Brussel, H.</au><au>Xu, H.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>LiAS: a reflexive navigation architecture for an intelligent mobile robot system</atitle><jtitle>IEEE transactions on industrial electronics (1982)</jtitle><stitle>TIE</stitle><date>1996-06-01</date><risdate>1996</risdate><volume>43</volume><issue>3</issue><spage>432</spage><epage>440</epage><pages>432-440</pages><issn>0278-0046</issn><eissn>1557-9948</eissn><coden>ITIED6</coden><abstract>In this paper, a complete hierarchical navigation architecture fur applications in real industrial factory environments is presented. An offline global geometrical planner uses a rough CAD-model of the working environment to plan consecutive via-points which the robot must follow. The navigation between the via-points is performed by a two-level online navigation algorithm. It consists of an online planning module combined with a low-level fuzzy logic avoidance behavior which enables the robot to move to the next goal by only specifying its coordinates in even completely a priori unknown and unstructured factory environments. The system includes a docking motion, based on a dynamic guidance technique. A perception fusion module combines information of three different sensors for accurate modeling of the world. The presented navigation method was tested with the mobile robot Leuven Intelligent Autonomous System (LiAS) and it proved to be useful in real world applications.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/41.499816</doi><tpages>9</tpages></addata></record> |
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| ispartof | IEEE transactions on industrial electronics (1982), 1996-06, Vol.43 (3), p.432-440 |
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| language | eng |
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| source | IEEE/IET Electronic Library (IEL) |
| subjects | Applied sciences Computer science control theory systems Control theory. Systems Exact sciences and technology Fuzzy logic Intelligent robots Intelligent sensors Motion planning Navigation Production facilities Robot kinematics Robot sensing systems Robotics Sensor fusion Service robots |
| title | LiAS: a reflexive navigation architecture for an intelligent mobile robot system |
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