Title:
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GIS map based mobile robot navigation in urban environments
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Author:
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Mirats Tur, Josep Maria; Zinggerling, Claudio; Corominas Murtra, Andreu
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents |
Abstract:
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Mobile robots need information about its spatial environment to solve any task in a robust, reliable and continuous form. This is usually encoded in a so-called map. We
propose the use of a standard, human-readable existing GIS map for robot navigation in urban scenarios. A centralized
GIS map server architecture is presented to which a robot or team of robots can connect by using a developed communication protocol. The system is scalable to large environments and large groups of robots. Furthermore it demonstrates the possibility for a robot to accurately navigate by using an already existing map which has not been constructed using the robot own sensors. Details of the implemented system architecture as well as a position tracking experiment in a real outdoor environment, a University Campus, are provided. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robots Motion -Robots mòbils |
Rights:
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Document type:
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Article - Published version Conference Object |
Published by:
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