The Office Marathon: Robust Navigation in an Indoor Office Environment

被引：0
|
作者：
Marder-Eppstein, Eitan
Berger, Eric
Foote, Tully
Gerkey, Brian
Konolige, Kurt
机构：
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年
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D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a navigation system that allowed a robot to complete 26.2 miles of autonomous navigation in a real office environment. We present the methods required to achieve this level of robustness, including an efficient Voxel-based 3D mapping algorithm that explicitly models unknown space. We also provide an open-source implementation of the algorithms used, as well as simulated environments in which our results can be verified.
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页码：300 / 307
页数：8
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