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GIS map based mobile robot navigation in urban environments
dc.contributor.author | Mirats Tur, Josep Maria |
dc.contributor.author | Zinggerling, Claudio |
dc.contributor.author | Corominas Murtra, Andreu |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2010-04-09T10:31:37Z |
dc.date.available | 2010-04-09T10:31:37Z |
dc.date.created | 2009-06-30 |
dc.date.issued | 2009-06-30 |
dc.identifier.citation | Mirats, J.; Zinggerling, C.; Corominas, A. GIS map based mobile robot navigation in urban environments. A: International Conference on Advanced Robotics. "The 14th. International Conference on Advanced Robotics". Munich: ___, 2009, p. 1-6. |
dc.identifier.isbn | ---- |
dc.identifier.uri | http://hdl.handle.net/2117/6891 |
dc.description.abstract | Mobile robots need information about its spatial environment to solve any task in a robust, reliable and continuous form. This is usually encoded in a so-called map. We propose the use of a standard, human-readable existing GIS map for robot navigation in urban scenarios. A centralized GIS map server architecture is presented to which a robot or team of robots can connect by using a developed communication protocol. The system is scalable to large environments and large groups of robots. Furthermore it demonstrates the possibility for a robot to accurately navigate by using an already existing map which has not been constructed using the robot own sensors. Details of the implemented system architecture as well as a position tracking experiment in a real outdoor environment, a University Campus, are provided. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | ___ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots Motion |
dc.title | GIS map based mobile robot navigation in urban environments |
dc.type | Conference report |
dc.subject.lemac | Robots mòbils |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5174783&isnumber=5174665 |
dc.rights.access | Open Access |
local.identifier.drac | 2454259 |
dc.description.version | Postprint (published version) |
local.citation.author | Mirats, J.; Zinggerling, C.; Corominas, A. |
local.citation.contributor | International Conference on Advanced Robotics |
local.citation.pubplace | Munich |
local.citation.publicationName | The 14th. International Conference on Advanced Robotics |
local.citation.startingPage | 1 |
local.citation.endingPage | 6 |