Towards Optimal Robot Navigation in Urban Homes


Conference Paper


The work presented in this paper is motivated by the goal of dependable autonomous navigation of mobile robots. This goal is a fundamental requirement for having autonomous robots in spaces such as domestic spaces and public establishments, left unattended by technical staff. In this paper we tackle this problem by taking an optimization approach: on one hand, we use a Fast Marching Approach for path planning, resulting in optimal paths in the absence of unmapped obstacles, and on the other hand we use a Dynamic Window Approach for guidance. To the best of our knowledge, the combination of these two methods is novel. We evaluate the approach on a real mobile robot, capable of moving at high speed. The evaluation makes use of an external ground truth system. We report controlled experiments that we performed, including the presence of people moving randomly nearby the robot. In our long term experiments we report a total distance of 18 km traveled during 11 hours of movement time.

Author(s): Ventura, R and Ahmad, A
Book Title: RoboCup 2014: Robot World Cup XVIII
Pages: 318-331
Year: 2015
Series: Lecture Notes in Computer Science ; 8992
Publisher: Springer

Department(s): Perceiving Systems
Bibtex Type: Conference Paper (inproceedings)

Address: Cham, Switzerland
DOI: 10.1007/978-3-319-18615-3_26
Event Name: 18th Annual RoboCup International Symposium 2014
Event Place: Jo{\~a}o Pessoa, Brazil


  title = {Towards Optimal Robot Navigation in Urban Homes},
  author = {Ventura, R and Ahmad, A},
  booktitle = {RoboCup 2014: Robot World Cup XVIII},
  pages = {318-331},
  series = {Lecture Notes in Computer Science ; 8992},
  publisher = {Springer},
  address = {Cham, Switzerland},
  year = {2015}