Robot Navigation in dynamic environment for an indoor human monitoring

摘要

This paper proposes a technique for navigation of a monitoring robot to watch over persons in a dynamic environment. In order to make an environmental map around the robot, localization of the robot and path finding to the target position are required so that the robot can move autonomously in the dynamic environment. In this study the position of robot and the environmental map are obtained by using Simultaneous Localization and Mapping (SLAM) which makes the map by using LRF with characteristic markers. Path finding to the target position is executed by using Navigation function that is a type of Artificial Potential Field (APF) method. Navigation function projects the work space and the obstacles to a topology space, and calculates value of APF. An effectiveness of the presented algorithm was confirmed since the point mass robot can reach the target position by avoiding moving objects through the simulation.