IEEE Access | |
Urban Navigation System With Multiple Sub-Maps and Multiple Sub-Navigators | |
Sukhum Sattaratnamai1  Attawith Sudsang1  Nattee Niparnan1  | |
[1] Department of Computer Engineering, Chulalongkorn University, Bangkok, Thailand; | |
关键词: Robot navigation; multiple navigators; multiple maps; urban navigation; route planning; navigation graph; | |
DOI : 10.1109/ACCESS.2020.2994652 | |
来源: DOAJ |
【 摘 要 】
Deploying an autonomous robot in an urban environment with heterogeneous sub-area is a challenging task that requires different types of navigation and map representation. In a real-world setting, spontaneous change of the environment such as sudden raining or congestion of parts of the navigation area is also a common event that must be handled. This paper presents a real-world navigation system capable of switching among multiple navigation algorithms in a novel manner in order to properly handle the workspace with different characteristics and the challenge of changing condition of the environment. The design of the system is a real-world result from deploying an actual robot in a live system with real-world user and environment.
【 授权许可】
Unknown