Autonomous indoor exploration of mobile robots based on door-guidance and improved dynamic window approach

Authors:
Haiqiang Zhang;Lihua Dou;Hao Fang;Jie Chen
Affiliations:
School of Automation, Beijing Institute of Technology, Beijing, China and Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Ministry of Education, ...;School of Automation, Beijing Institute of Technology, Beijing, China and Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Ministry of Education, ...;School of Automation, Beijing Institute of Technology, Beijing, China and Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Ministry of Education, ...;School of Automation, Beijing Institute of Technology, Beijing, China and Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Ministry of Education, ...
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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Abstract

A two-layer navigation architecture for autonomous indoor exploration is proposed. As doors in the indoor environments are ubiquitous and informative for navigation, the high-level layer uses a stereo vision based algorithm to detect doors in order to generate a series of goal points. The low-level layer makes the robot avoid obstacles and navigate to the goal points by an improved dynamic window approach (DWA). This approach can solve the local-minima problem of DWA and can obtain smooth motion controls. The combination of high-level door-guidance and low-level goal-directed navigation enables the robot to make a door-to-door exploration. The proposed architecture was implemented on a Pioneer3 robot. Experiments show that the door detection algorithm and the improved DWA work reliably under various environments, and the robot can efficiently fulfill the task of autonomous indoor exploration.