• Corpus ID: 8645259

Environment infrastructure and multi-sensor integration for autonomous service robotics

@inproceedings{Rybak2011EnvironmentIA,
  title={Environment infrastructure and multi-sensor integration for autonomous service robotics},
  author={V. I. Rybak},
  year={2011}
}

• V. Rybak
• Published 2011
• Computer Science

This paper presents an approach to enable autonomous service robots activities based on creation of an infrastructure parallel to the infrastructure of environment for daily human life and on cooperation of robot sensors. A mobile robot equipped with a manipulator is regarded as a service robot. A specific problem of control by the manipulator movement is concerned with changeable position of its base with regard to the position of the environment objects. The infrastructure contains both material and informative components. Material components are adjusted to the capabilities of the manipulator. Robot sensors provide functions based on position information. Control by the robot action starts with the assumption of exact knowledge of the initial pose of a mobile platform with regard to world coordinate system. The odometry sensors are used as metric reference. Visual sensors and laser rangefinder are used for verification of robot's current pose. Proposed collaborative sensors data processing is used to cut down analyzed space of scene by directed selection of the area of interest and to replace the pattern recognition problem solving by the verification of the state of known scene. We proposed the visual informative landmark and monocamera vision system that provide the robot direct measurement of its 3D spatial position with respect to landmark coordinate system and with additional environment information. It serves as the base to design an environment model representation as a hybrid of topological and metrical maps.