Goal Directed, State and Behavior based Navigation Algorithm for Smart “Robosofa” Furniture

Authors

  • G. Narvydas Kaunas University of Technology
  • R. Maskeliunas Kaunas University of Technology
  • V. Raudonis Kaunas University of Technology

DOI:

https://doi.org/10.5755/j01.eee.116.10.885

Abstract

This article presents a navigation system for the intelligent furniture of the “RoboSofa” project capable of navigation through a known environment and reaching the target in the shortest possible time. The target can be set by human being using various input modalities or remote control devices. The additional environmental scanning and image recognition (location markers) features were implemented in this solution. Our solution works by performing the data fusion gathered from sensors. This information is combined with a-priori knowledge of the environment to estimate “Robosofa” position and send commands to the actuators for movement. The main goals described were to solve one of the most important aspects of mobile robotics - to perform successful locomotion, obstacle avoidance task. The Khepera2 based mobile test platform controlled based on proposed control system effectively avoids obstacles and reliably reaches the target point. Ill. 4, bibl. 17 (in English; abstracts in English and Lithuanian).

http://dx.doi.org/10.5755/j01.eee.116.10.885

Downloads

Published

2011-12-06

How to Cite

Narvydas, G., Maskeliunas, R., & Raudonis, V. (2011). Goal Directed, State and Behavior based Navigation Algorithm for Smart “Robosofa” Furniture. Elektronika Ir Elektrotechnika, 116(10), 67-70. https://doi.org/10.5755/j01.eee.116.10.885

Issue

Vol. 116 No. 10 (2011)

Section

AUTOMATION, ROBOTICS

License

The copyright for the paper in this journal is retained by the author(s) with the first publication right granted to the journal. The authors agree to the Creative Commons Attribution 4.0 (CC BY 4.0) agreement under which the paper in the Journal is licensed.

By virtue of their appearance in this open access journal, papers are free to use with proper attribution in educational and other non-commercial settings with an acknowledgement of the initial publication in the journal.