Integrated localization of the service robot PSR

摘要

Although a great deal of localization methods have been proposed, when it comes to human coexisting real world there are still many unsolved problems. It is because real world contains various kinds of uncertainties. For reliable navigation in such a world, this paper proposes a new localization synthesis integrated localization. The integrated localization is a dependable active localization approach, which is the structural synthesis of navigation modules. Due to a dynamic change of an environment, robot navigation cannot be solved by a single algorithm. In this paper, various situations are classified into different status, which is modeled as discrete events. Then, developed algorithms are synthesized in a structured way. The discrete event control structure enables efficient combination of position estimation algorithms and synthesis of navigation modules. Furthermore, the scheme provides structural framework for dead lock avoidance. The proposed technique is applied to KIST public service robots and shown to be useful in real experiments.