Presentado al 14th ICAR celebrado en Múnich (Alemania) del 22 al 26 de junio de 2009. ; A Mobile robots need information about its spatial environment to solve any task in a robust, reliable and continuous form. This is usually encoded in a so-called map. We propose the use of a standard, human-readable existing GIS map for robot navigation in urban scenarios. A centralized GIS map server architecture is presented to which a robot or team of robots can connect by using a developed communication protocol. The system is scalable to large environments and large groups of robots. Furthermore it demonstrates the possibility for a robot to accurately navigate by using an already existing map which has not been constructed using the robot own sensors. Details of the implemented system architecture as well as a position tracking experiment in a real outdoor environments a University Campus, are provided. ; This work was supported by projects: 'Integration of robust perception, learning, and navigation systems in mobile robotics' (J-0929), 'Ubiquitous networking robotics in urban settings' (E-00938). This work has partly been supported by Cicyt Navrob project DPI2004-05414 of the Spanish Science and Education Ministry and European STREP project URUS with reference IST-045062. ; Peer Reviewed
GIS map based mobile robot navigation in urban environments
2009-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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