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Robust and computationally efficient navigation in domestic environments

: Holz, D.; Kraetzschmar, G.K.; Rome, E.

Postprint urn:nbn:de:0011-n-1202585 (1.1 MByte PDF)
MD5 Fingerprint: 9401ba56d5c901d6a136972212629131
The original publication is available at
Erstellt am: 9.9.2010

Baltes, J.:
RoboCup 2009: Robot Soccer World Cup XIII : Held in Graz, Austria, in June/July, 2009
Berlin: Springer, 2010 (Lecture Notes in Artificial Intelligence 5949)
ISBN: 3-642-11875-5
ISBN: 978-3-642-11875-3 (Print)
ISBN: 978-3-642-11876-0 (Online)
ISSN: 0302-9743
RoboCup International Symposium <13, 2009, Graz>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IAIS ()

Presented in this paper is a complete system for robust autonomous navigation in cluttered and dynamic environments. It consists of computationally efficient approaches to the problems of simultaneous localization and mapping, path planning, and motion control, all based on a memory-efficient environment representation. These components have been implemented and integrated with additional components for human-robot interaction and object manipulation on a mobile manipulation platform for service robot applications. The resulting system performed very successfully in the 2008 RoboCup@Home competition.