Loading...
Please wait, while we are loading the content...
Similar Documents
Architecture of Mobile Robotics Platform planned for Intelligent Robotic Porter System - IRPS project
| Content Provider | Semantic Scholar |
|---|---|
| Author | Woloszczuk, Adam Andrzejczak, Mariusz Szynkarczyk, Piotr |
| Copyright Year | 2007 |
| Abstract | 1. Project overview The Intelligent Robotic Porter System (IRPS) is an international project within the 6 Framework Programme, 6 Call IST (Information Society Technologies). Project is scheduled for 01.01.2007 to 31.12.2009. The purpose of the project is to provide mobile robotics platforms with advanced mapping and navigation systems based on a very accurate 3D-measurement technology. The purpose of the mobile platform will be to transport disabled persons within the area of public airport, which is structured, however variable environment. Implementation of navigation system, working in real time, able to define objects in the robot's workspace is essential to the project. The 3D measurement technology, named LIMS (LIDAR Imaging and Measurement System, LIDAR Light Detection and Ranging) based on three eye-safe laser systems originated in Israeli Aerospace Industries Lahav Division meets application requirements. It was shown, in feasibility study, that highly accurate measurements could be achieved in real time, on the move and in presence of sparse objects and vibrations. LIMS will be used to recover the position of the robot related to the environment by using natural landmarks, through the comparison of the actual 3D map with previous 3D maps already stored in system memory. This operation will be complemented with reflectance and video data to increase information and robustness. Since the positioning and mapping will not rely on absolute positioning systems, the application can be used indoors as well as outdoors environments. The main objective of the project is to develop and integrate an accurate 3D sensing system as a modular component for robotic platforms, enabling fast dense mapping of large areas, populated with sparse objects. The aim of this paper is to present the Intelligent Robotic Porter System with respect to architecture of Mobile Robotic Platform. The set of requirements for Mobile Robotic Platform was defined and analysed. Main engineering problems that occurred during the development of Mobile Robotic Platform's architecture were specified and described. Problems were confronted with PIAP's proposed solutions for technical issues at this stage of the project. |
| Starting Page | 59 |
| Ending Page | 63 |
| Page Count | 5 |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.jamris.org/images/ISSUES/ISSUE-2007-03/007%20JAMRIS%20No3%20-%20Wooszczuk.pdf |
| Alternate Webpage(s) | http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.baztech-article-BUJ6-0014-0024/c/httpwww_jamris_org032007saveas_phpquestjamrisno032007p59-63.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
