Nao Robot Navigation System Structure Development in an Agent-Based Architecture of the RAPP Platform

被引：9
|
作者：
Dudek, Wojciech [1 ]
Szynkiewicz, Wojciech [1 ]
Winiarski, Tomasz [1 ]
机构：
[1] Warsaw Univ Technol, Warsaw, Poland
来源：
CHALLENGES IN AUTOMATION, ROBOTICS AND MEASUREMENT TECHNIQUES | 2016年 / 440卷
关键词：
Humanoid navigation; Nao robot; Agent system; SPECIFICATION;
D O I：
10.1007/978-3-319-29357-8_54
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 focuses on the development of a navigation system structure for the Nao humanoid robot in an agent-oriented distributed architecture. The proposed navigation system is a part of the RAPP framework, a cloud based robotics platform. The RAPP framework is an open-source software platform to support the creation and delivery of robotic applications, which are expected to increase the versatility and utility of robots. All navigation tasks are defined and divided into separate components. The robot navigation system consists of a relative localisation based on Extended Kalman Filter (EKF) using both IMU and odometry measurements, visual QR-code based global localization, path planning, and motion control components. A proper allocation of navigation components, in the four-agent structure of the RAPP platform, is the main goal of this work. Navigation system components are implemented using Robot Operating System and Nao robot programming framework-NAOqi. Experimental results for the Nao robot are presented to show the validity of the proposed approach.
引用
收藏
页码：623 / 633
页数：11
相关论文
共 50 条
  • [41] An Agent-Based Platform for Traffic Simulation
    Fernandez-Isabel, Alberto
    Fuentes-Fernandez, Ruben
    SOFT COMPUTING MODELS IN INDUSTRIAL AND ENVIRONMENTAL APPLICATIONS, 6TH INTERNATIONAL CONFERENCE SOCO 2011, 2011, 87 : 505 - 514
  • [42] An Intelligent Agent-Based Journalism Platform
    Barriuso, Alberto L.
    de La Prieta, Fernando
    Lozano Murciego, Alvaro
    Hernandez, Daniel
    Revuelta Herrero, Jorge
    HIGHLIGHTS OF PRACTICAL APPLICATIONS OF SCALABLE MULTI-AGENT SYSTEMS, 2016, 616 : 322 - 332
  • [43] An agent-based active node architecture
    Shao, X
    Tajima, Y
    Terada, M
    2003 INTERNATIONAL CONFERENCE ON COMMUNICATION TECHNOLOGY, VOL 1 AND 2, PROCEEDINGS, 2003, : 73 - 76
  • [44] An agent-based architecture for a distributed MIS
    Bourbia, Riad
    Dib, Lynda
    Benrazek, Ala-Eddine
    2016 IEEE/ACS 13TH INTERNATIONAL CONFERENCE OF COMPUTER SYSTEMS AND APPLICATIONS (AICCSA), 2016,
  • [45] An agent-based architecture for dialogue systems
    Buckley, Mark
    Benzmueller, Christoph
    PERSPECTIVES OF SYSTEMS INFORMATICS, 2007, 4378 : 135 - +
  • [46] An agent-based architecture for multimodal interaction
    Jonker, CM
    Treur, J
    Wijngaards, WCA
    INTERNATIONAL JOURNAL OF HUMAN-COMPUTER STUDIES, 2001, 54 (03) : 351 - 405
  • [47] An agent-based architecture for advance reservations
    Schelen, O
    Pink, S
    LCN'97 - 22ND ANNUAL CONFERENCE ON LOCAL COMPUTER NETWORKS, PROCEEDINGS, 1997, : 451 - 459
  • [48] AN AGENT-BASED ARCHITECTURE FOR CONCURRENT ENGINEERING
    GOLDSTEIN, D
    CONCURRENT ENGINEERING-RESEARCH AND APPLICATIONS, 1994, 2 (02): : 117 - 123
  • [49] An Agent-Based Architecture for Personalized Recommendations
    Ben Othmane, Amel
    Tettamanzi, Andrea
    Villata, Serena
    Thanh, Nhan L. E.
    Buffa, Michel
    AGENTS AND ARTIFICIAL INTELLIGENCE, ICAART 2016, 2017, 10162 : 96 - 113
  • [50] Agent-based Knowledge Mining Architecture
    Jusoh, Shaidah
    Al Fawareh, Hejab M.
    PROCEEDINGS OF 2009 INTERNATIONAL CONFERENCE ON COMPUTER ENGINEERING AND APPLICATIONS, 2009, : 602 - 606
12345