NDLI: Navigation in indoor environment by an autonomous unicycle robot with wide-type wheel

Content Provider	IEEE Xplore Digital Library
Author	Okumura, J. Takei, T. Tsubouchi, T.
Copyright Year	2010
Description	Author affiliation: Graduate School of System and Information Engineering, University of Tsukuba, Tenoudai 1-1-1, Ibaraki 305-0006, JAPAN (Okumura, J.; Takei, T.; Tsubouchi, T.)
Abstract	The objective of this research is to perform a long distance navigation in indoor environment, with a unicycle robot that has a wide-type wheel, and has a laser range finder installed on top of the robot. At present, there is no report for long distance navigation by unicycle robot in real indoor environment. We have developed a system that consists of two subsystems; “Balancing and Maneuvering System” for moving robot to desired direction while the posture of the robot is stabilized, and “Navigation System” for calculation of desired direction and recognition of intersections, using external sensor whose scan plain changes when robot steers. We have implemented the system to a single SH-4 CPU microcomputer, and performed a long distance navigation in actual indoor environment. The paper reports the unicycle robot and the system we have developed, and the experiment result of long distance navigation in indoor environment.
Starting Page	154
Ending Page	159
File Size	1927776
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650549
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Mobile robots Navigation Wheels Angular velocity Indoor environments
Content Type	Text
Resource Type	Article

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