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Point-to-point safe navigation of a mobile robot using stigmergy and RFID technology
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)ORCID iD: 0000-0002-9652-7864
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)ORCID iD: 0000-0001-8229-1363
2016 (English)In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2016, 1497-1504 p., 7759243Conference paper, Published paper (Refereed)
Abstract [en]

Reliable autonomous navigation is still a challenging problem for robots with simple and inexpensive hardware. A key difficulty is the need to maintain an internal map of the environment and an accurate estimate of the robot’s position in this map. Recently, a stigmergic approach has been proposed in which a navigation map is stored into the environment, on a grid of RFID tags, and robots use it to optimally reach predefined goal points without the need for internal maps. While effective,this approach is limited to a predefined set of goal points. In this paper, we extend this approach to enable robots to travel to any point on the RFID floor, even if it was not previously identified as a goal location, as well as to keep a safe distance from any given critical location. Our approach produces safe, repeatable and quasi-optimal trajectories without the use of internal maps, self localization, or path planning. We report experiments run in a real apartment equipped with an RFID floor, in which a service robot either reaches or avoids a user who wears slippers equipped with an RFID tag reader.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 1497-1504 p., 7759243
National Category
Electrical Engineering, Electronic Engineering, Information Engineering Robotics Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-55285DOI: 10.1109/IROS.2016.7759243ISI: 000391921701097Scopus ID: 2-s2.0-85006381786ISBN: 9781509037629 (electronic)OAI: oai:DiVA.org:oru-55285DiVA: diva2:1071063
Conference
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon Convention Center, Daejeon, South Korea, October 9-14, 2016
Projects
EC FP7 MONARCH
Funder
EU, FP7, Seventh Framework Programme, 601033 MOnarCH
Note

Funding Agency:

Örebro University, Sweden

Available from: 2017-02-03 Created: 2017-02-03 Last updated: 2017-03-07Bibliographically approved

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Abdul Khaliq, AliPecora, FedericoSaffiotti, Alessandro
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