Humanoid Robot Indoor Navigation Based on 2D Bar Codes: Application to the NAO Robot
Résumé
In this paper, we put forward a method for humanoid robot indoor localization and navigation, using 2D bar codes, running on embedded hardware. Our approach is based on camera image processing and the detection of 2D bar codes stuck to the walls. The particularities of our approach are: it works without odometry, fast localization ( 1s) that allows for kidnapping and falls, and it does not require the manual edition of a map (thus no extra computer is needed). Results of an experimental study conducted with three different NAO robots in our office show that the proposed system is operational and usable in domestic environments. The NAO robots are able to navigate through a corridor of 5m in under 86s on average. Moreover using our system the robots manage to map and navigate a complex environment with multiple rooms that includes doors and furniture. Taken together our results demonstrate that our navigation system could become a standard feature for our robots.
Domaines
Robotique [cs.RO]
Fichier principal
Humanoid_Robot_Indoor_Navigation_Based_on_2D_Bar_Codes_working_copy_.pdf (593.91 Ko)
Télécharger le fichier
poster_navigation_rendu_copy.png (4.11 Mo)
Télécharger le fichier
navigation_markers_corridor_lowdef.mp4 (9.72 Mo)
Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Format : Figure, Image
Format : Vidéo
Loading...