Multisensor-based outdoor tour guide robot NTU-I

This paper presents our development of a new outdoor tour guide robot, named, NTU-I. It is constructed to provide autonomous guiding services on the campus of National Taiwan University. In order to fulfill reliability and safety of outdoor navigation, data acquired via several sensing technologies,...

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Bibliographic Details
Published in2008 SICE Annual Conference pp. 1425 - 1430
Main Authors Kuo-Hung Chiang, Shih-Huan Tseng, Yen-Hsun Wu, Guan-Hao Li, Chi-Pang Lam, Fu, Li-Chen
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2008
Subjects
Collision avoidance
Dead reckoning
Global Positioning System
obstacle avoidance
potential field
Robot kinematics
Robot sensing systems
Robots
sensor fusion
Sensors
shortest path planning
Tour guide robot
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Summary:This paper presents our development of a new outdoor tour guide robot, named, NTU-I. It is constructed to provide autonomous guiding services on the campus of National Taiwan University. In order to fulfill reliability and safety of outdoor navigation, data acquired via several sensing technologies, such as differential global positioning system (DGPS), dead reckoning, and digital compass are fused by the way of the well known extended Kalman filtering (EKF) technique. Furthermore, a shortest path planning and an obstacle avoidance algorithm are also implemented. For the latter, we deploy twelve ultrasonic sensors around the body of NTU-I to detect the nearby object within three meters. Once the robot encounters an unexpected obstacle, the proposed hierarchical navigation strategy will drive the robot to avoid collision. Experiments of both outdoor tour guide motion and on-line obstacle avoidance demonstrate the superior design of our autonomous tour guide robot NTU-I as well as its effective and plausible control scheme.
ISBN:4907764308
9784907764302
DOI:10.1109/SICE.2008.4654882