PYTHEAS : an integrated robotic system with autonomous navigation capabilities

• Autorzy: Bekris K. , Hatzopoulos K. , Kazazakis G. , Kontolemakis G. , Masvoula M. , Tsivourakis N. , Argyros A. , Trahanias P.
• Języki publikacji: EN

Abstrakty

EN

In this paper we present PYTHEAS, an integrated robotic software system that supports autonomous navigation capabilities. These include localization, workspace mapping, path planning and tracking, and obstacle avoidance. PYTHEAS enables mapping of an unknown indoor environment by exploiting sensory information extracted from a laser scanner. Based on this acquired environment representation, the system is able to navigate autonomously in the mapped workspace, avoiding at the same time dynamic obstacles, such as moving persons or other objects. The developed competences are coupled in an integrated system, which can be controlled through a user-friendly interface over the web. Experimental results demonstrate the ability of the developed system to map complicated environments and support navigation in dynamic worlds.

Słowa kluczowe

EN

navigation; integrated robotic system; integrated system; PYTHEAS; robotics

PL

nawigacja; system zintegrowany; robotyka; PYTHEAS

• Wydawca: Instytut Telekomunikacji i Informatyki Uniwersytetu Technologiczno-Przyrodniczego w Bydgoszczy
• Czasopismo: Image Processing & Communications
• Rocznik: 2002
• Tom: Vol. 8, no 2
• Strony: 81--92
• Opis fizyczny: Bibliogr. 16 poz.,Rys., wykr.,

Twórcy

autor

Bekris K.

• Department of Computer Science University of Crete Heraklion, Crete, Greece
• Institute of Computer Science Foundation for Research and Technology - Hellas Heraklion, Crete,Greece

autor

Hatzopoulos K.

• Department of Computer Science University of Crete Heraklion, Crete, Greece
• Institute of Computer Science Foundation for Research and Technology - Hellas Heraklion, Crete,Greece

autor

Kazazakis G.

• Department of Computer Science University of Crete Heraklion, Crete, Greece

autor

Kontolemakis G.

• Department of Computer Science University of Crete Heraklion, Crete, Greece
• Institute of Computer Science Foundation for Research and Technology - Hellas Heraklion, Crete,Greece

autor

Masvoula M.

• Department of Computer Science University of Crete Heraklion, Crete, Greece
• Institute of Computer Science Foundation for Research and Technology - Hellas Heraklion, Crete,Greece

autor

Tsivourakis N.

• Department of Computer Science University of Crete Heraklion, Crete, Greece

autor

Argyros A.

• Department of Computer Science University of Crete Heraklion, Crete, Greece
• Institute of Computer Science Foundation for Research and Technology - Hellas Heraklion, Crete,Greece

autor

Trahanias P.

• Department of Computer Science University of Crete Heraklion, Crete, Greece
• Institute of Computer Science Foundation for Research and Technology - Hellas Heraklion, Crete,Greece

Bibliografia

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