skip to main content
10.1145/1579114.1579176acmotherconferencesArticle/Chapter ViewAbstractPublication PagespetraConference Proceedingsconference-collections
research-article

Methodology for robot mapping and navigation in assisted living environments

Published: 09 June 2009 Publication History

Abstract

Robust navigation in living environments demands high requirements on the control system of a robot. Due to typically narrow passages between obstacles, precise navigation is required. To achieve accuracy in navigation, detailed representation of the environment around the robot needs to be developed. Robust and precise mapping of the environment helps in overcoming the dynamics in the living environment like movement of furniture and human beings. Prompt recovery from unreachable paths while navigating is also an essential component of the living environment robots. This paper describes a behaviour-based navigation system in assisted living environments. The navigation system uses a grid map created from data obtained from laser scanner and ultrasonic sensors mounted on a small sized robot, ARTOS. ARTOS is specially designed for indoor living environments able to navigate through narrow corridors and closely placed furniture in the living environment.

References

[1]
C. Armbrust, J. Koch, U. Stocker, and K. Berns. Mobile robot navigation support in living environments. In 20. Fachgespräch Autonome Mobile Systems (AMS). pages 341--346, Kaiserslautern, Germany, October 2007.
[2]
A. Cherubini, G. Oriolo, F. Macrì, F. Aloise, F. Babiloni, F. Cincotti, and D. Mattia. Development of a multimode navigation system for an assistive robotics project. In Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA '07), pages 2336--2342, Roma, Italy, April 10--14 2007.
[3]
D. Hähnel, W. Burgard, D. Fox, K. Fishkin, and M. Philipose. Mapping and localization with rfid technology. In International Conference on Robotics and Automation (ICRA), New Orleans, 2004.
[4]
P. E. Hart, N. J. Nilsson, and B. Raphael. A formal basis for the heuristic determination of minimum cost paths. In IEEE Transactions of Systems Science and Cybernetics, volume 4, pages 100--107, July 2 1968.
[5]
J. Koch, C. Armbrust, and K. Berns. Small service robots for assisted living environments. In VDI/VDE Fachtagung Robotik, Munich, Germany, June 11--12 2008.
[6]
J. Koch, M. Reichardt, and K. Berns. Universal web interfaces for robot control frameworks. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22--26 2008.
[7]
V. Kulyukin, A. Banavalikar, and J. Nicholson. Wireless indoor localization with dempster-shafer simple support functions. Technical report, Computer Science Assistive Technology Laboratory, Department of Computer Science, Utah State University, 2005.
[8]
M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit. Fastslam: A factored solution to the simultaneous localization and mapping problem. In Proceedings of the 18th National Conference on Artificial Intelligence and 14th Conference on Innovative Applications of Artificial Intelligence, pages 593--598, aug 2002.
[9]
L. Montesano, J. Minguez, J. Alcubierre, and L. Montano. Towards the adaptation of a robotic wheelchair for cognitive disabled children. In Proceedings of the Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pages 710--716, Beijing, China, October 9--15 2006.
[10]
R. Ouellette and K. Hirasawa. A comparison of slam implementations for indoor mobile robots. Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, pages 1479--1484, 29 2007--Nov. 2 2007.
[11]
M. Proetzsch, T. Luksch, and K. Berns. The behaviour-based control architecture ib2c for complex robotic systems. In 30th Annual German Conference on Artificial Intelligence (KI), pages 494--497, Osnabrück, Germany, September 10--13 2007.
[12]
S. Quinlan and O. Khatib. Elastic bands: Connecting path planning and control. In Proceedings of IEEE Int. Conference on Robotics and Automation, pages 802--807, Atlanta, 1993.

Cited By

View all
  • (2019)Air Quality Monitoring Using Assistive Robots for Ambient Assisted Living and Enhanced Living Environments through Internet of ThingsElectronics10.3390/electronics81213758:12(1375)Online publication date: 20-Nov-2019
  • (2018)Behavior-based search of human by an autonomous indoor mobile robot in simulationUniversal Access in the Information Society10.1007/s10209-013-0301-813:1(45-58)Online publication date: 21-Dec-2018
  • (2018)Using an autonomous robot to maintain privacy in assistive environmentsSecurity and Communication Networks10.1002/sec.2534:11(1275-1293)Online publication date: 20-Dec-2018
  • Show More Cited By

Recommendations

Comments

Information & Contributors

Information

Published In

cover image ACM Other conferences
PETRA '09: Proceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments
June 2009
481 pages
ISBN:9781605584096
DOI:10.1145/1579114
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 09 June 2009

Permissions

Request permissions for this article.

Check for updates

Author Tags

  1. assisted living robot
  2. mapping
  3. mapping and navigation
  4. navigation

Qualifiers

  • Research-article

Conference

PETRA '09

Contributors

Other Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

  • Downloads (Last 12 months)5
  • Downloads (Last 6 weeks)1
Reflects downloads up to 16 Feb 2025

Other Metrics

Citations

Cited By

View all
  • (2019)Air Quality Monitoring Using Assistive Robots for Ambient Assisted Living and Enhanced Living Environments through Internet of ThingsElectronics10.3390/electronics81213758:12(1375)Online publication date: 20-Nov-2019
  • (2018)Behavior-based search of human by an autonomous indoor mobile robot in simulationUniversal Access in the Information Society10.1007/s10209-013-0301-813:1(45-58)Online publication date: 21-Dec-2018
  • (2018)Using an autonomous robot to maintain privacy in assistive environmentsSecurity and Communication Networks10.1002/sec.2534:11(1275-1293)Online publication date: 20-Dec-2018
  • (2017)Cooperative mapping of unknown environments by multiple heterogeneous mobile robots with limited sensingRobotics and Autonomous Systems10.1016/j.robot.2016.08.00687(188-218)Online publication date: Jan-2017
  • (2011)Probabilistic search of human by autonomous mobile robotProceedings of the 4th International Conference on PErvasive Technologies Related to Assistive Environments10.1145/2141622.2141631(1-8)Online publication date: 25-May-2011
  • (2010)Behaviour based searching of human using MDPProceedings of the 28th Annual European Conference on Cognitive Ergonomics10.1145/1962300.1962380(349-350)Online publication date: 25-Aug-2010
  • (2010)Use of an Autonomous Mobile Robot for Elderly CareProceedings of the 2010 Advanced Technologies for Enhancing Quality of Life10.1109/ATEQUAL.2010.30(121-126)Online publication date: 15-Jul-2010
  • (2010)Ordering of Robotic Navigational Tasks in Home EnvironmentTrends in Intelligent Robotics10.1007/978-3-642-15810-0_31(242-249)Online publication date: 2010

View Options

Login options

View options

PDF

View or Download as a PDF file.

PDF

eReader

View online with eReader.

eReader

Figures

Tables

Media

Share

Share

Share this Publication link

Share on social media