Developing an integrated software environment for mobile robot navigation and control

Zoltán Tuza, János Rudan, G. Szederkényi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

A flexible modular robotic software environment based on the popular MRPT toolkit is reported in this paper that is able to integrate path planning, navigation and control algorithms easily from several sources. The different modules (which are responsible for SLAM, trajectory tracking, sensor and actuator handling, visualization etc.) communicate with each other via a carefully developed network based protocol set that ensures transparency and robust operation. The system can also be used as a simulation environment and it is capable of comparative benchmarking of different navigation algorithms. Laser scanner based map building and navigation of an autonomous wheelchair is shown as application examples to illustrate the features of the developed software environment.

Original languageEnglish
Title of host publication2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 - Conference Proceedings
DOIs
Publication statusPublished - 2010
Event2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 - Zurich, Switzerland
Duration: Sep 15 2010Sep 17 2010

Other

Other2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010
CountrySwitzerland
CityZurich
Period9/15/109/17/10

Fingerprint

Mobile robots
Navigation
Wheelchairs
Benchmarking
Motion planning
Transparency
Robotics
Actuators
Visualization
Trajectories
Lasers
Sensors

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems

Cite this

Tuza, Z., Rudan, J., & Szederkényi, G. (2010). Developing an integrated software environment for mobile robot navigation and control. In 2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 - Conference Proceedings [5647506] https://doi.org/10.1109/IPIN.2010.5647506

Developing an integrated software environment for mobile robot navigation and control. / Tuza, Zoltán; Rudan, János; Szederkényi, G.

2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 - Conference Proceedings. 2010. 5647506.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tuza, Z, Rudan, J & Szederkényi, G 2010, Developing an integrated software environment for mobile robot navigation and control. in 2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 - Conference Proceedings., 5647506, 2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010, Zurich, Switzerland, 9/15/10. https://doi.org/10.1109/IPIN.2010.5647506
Tuza Z, Rudan J, Szederkényi G. Developing an integrated software environment for mobile robot navigation and control. In 2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 - Conference Proceedings. 2010. 5647506 https://doi.org/10.1109/IPIN.2010.5647506
Tuza, Zoltán ; Rudan, János ; Szederkényi, G. / Developing an integrated software environment for mobile robot navigation and control. 2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 - Conference Proceedings. 2010.
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