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Preprints of the Keldysh Institute of Applied Mathematics, 2015, 072, 28 pp.
(Mi ipmp2034)
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This article is cited in 3 scientific papers (total in 3 papers)
Organization and structure of a combined map of an operating environment of a service robot
O. I. Davydov, A. K. Platonov
Abstract:
This work is a part of a project to develop the onboard control system of mobile service robot RB-2, mounted with a manipulator. It describes map — a “2.5D model” of the robot's operating environment with simplified description of the vertical dimensions of the model objects. This paper introduces the concept of Ortoframe as a key model element, describes its basic parameters, by which the model exists as a combination of metric, topological and semantic models. The paper also examines the structure of the object model of the operating environment as a combination of Ortoframes, describes the relationship between the model objects, geometric and topological relationships between them. Examples of construction of object semantic descriptions and semantic relationships between objects are presented. A procedure for planning robot's movement is described.
Keywords:
mobile service robot, Ortoframe, environment model, 2.5D map.
Citation:
O. I. Davydov, A. K. Platonov, “Organization and structure of a combined map of an operating environment of a service robot”, Keldysh Institute preprints, 2015, 072, 28 pp.
Linking options:
https://www.mathnet.ru/eng/ipmp2034 https://www.mathnet.ru/eng/ipmp/y2015/p72
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Statistics & downloads: |
Abstract page: | 127 | Full-text PDF : | 41 | References: | 18 |
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