3D path planning with novel multiple 2D layered approach for complex human-robot interaction

Authors:
Thomas A. Smith;Rui C. V. Loureiro;William S. Harwin
Affiliations:
University of Readtng, School of Systems Engineering, Reading, UK;University of Readtng, School of Systems Engineering, Reading, UK;University of Readtng, School of Systems Engineering, Reading, UK
Venue:
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Year:
2009

Citing 5
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Abstract

Navigating cluttered indoor environments is a difficult problem in indoor service robotics. The Acroboter concept, a novel approach to indoor locomotion, represents unique opportunity to avoid obstacles in indoor environments by navigating the ceiling plane. This mode of locomotion requires the ability to accurately detect obstacles, and plan 3D trajectories through the environment. This paper presents the development of a resilient object tracking system, as well as a novel approach to generating 3D paths suitable for such robot configurations. Distributed human-machine interfacing allowing simulation previewing of actions is also considered in the developed system architecture.