In this work is presented a novel platform able to navigate autonomously in unknown indoor environments. The system has been designed as a framework with different interconnected modules in order to be able to apply the same navigation system to different robotic platforms. The proposed framework is a real–time system developed on board of the robot, without the need of external computing units. The entire system has been tested and evaluated on multi–rotors vehicles with different hardware configurations, evaluating the performance and the quality of the reconstructed map. Experimental results show a promising robust and highly accurate indoor navigation module.
Design of an Indoor Autonomous Robot Navigation System for Unknown Environments
Pallottino, Lucia;
2018-01-01
Abstract
In this work is presented a novel platform able to navigate autonomously in unknown indoor environments. The system has been designed as a framework with different interconnected modules in order to be able to apply the same navigation system to different robotic platforms. The proposed framework is a real–time system developed on board of the robot, without the need of external computing units. The entire system has been tested and evaluated on multi–rotors vehicles with different hardware configurations, evaluating the performance and the quality of the reconstructed map. Experimental results show a promising robust and highly accurate indoor navigation module.| File | Dimensione | Formato | |
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10.1007-978-3-319-76072-8_11.pdf
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