Semi-automatically simultaneous localization and mapping for home service robots

Chung Lin Lee, Hsiang Ting Chen, Yi Bin Lin, Wei Hsin Yen, Tzuu-Hseng S. Li

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

Abstract

This paper mainly discusses the design and implementation of semi-automatically simultaneous localization and mapping (SLAM). SLAM is an important technique for home service robots to move in unknown environments and built the environment map. Different from traditional SLAM method which is operated by a remote controller, the semi-automatically SLAM is operated by human-robot interaction. The semi-automatically SLAM method is composed of SLAM, obstacle avoidance strategies and following technique. With this method, the robot can follow human operator walking around the surrounding, and build the environment map at the same time. The SLAM system is built using the Iterative Closest Point (ICP) algorithm. The ICP algorithm estimates the pose of the robot and compares the prior built map with current laser information to iteratively revise the environment map. Furthermore, Q-learning is applied for obstacle avoidance during navigation. After learning, the robot can navigates smoothly and avoid obstacles automatically. The proposed methods experimented in the laboratory and in the RoboCup Japan Open 2014 competition. The validity and efficiency of the semi-automatically SLAM for the home service robot are demonstrated.

Original languageEnglish
Title of host publication2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479918515
DOIs
Publication statusPublished - 2015
EventInternational Conference on Advanced Robotics and Intelligent Systems, ARIS 2015 - Taipei, Taiwan
Duration: 2015 May 292015 May 31

Other

OtherInternational Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
CountryTaiwan
CityTaipei
Period15-05-2915-05-31

Fingerprint

Robots
Collision avoidance
Human robot interaction
Navigation
Controllers
Lasers

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Lee, C. L., Chen, H. T., Lin, Y. B., Yen, W. H., & Li, T-H. S. (2015). Semi-automatically simultaneous localization and mapping for home service robots. In 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015 [7158374] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ARIS.2015.7158374
Lee, Chung Lin ; Chen, Hsiang Ting ; Lin, Yi Bin ; Yen, Wei Hsin ; Li, Tzuu-Hseng S. / Semi-automatically simultaneous localization and mapping for home service robots. 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015. Institute of Electrical and Electronics Engineers Inc., 2015.
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Lee, CL, Chen, HT, Lin, YB, Yen, WH & Li, T-HS 2015, Semi-automatically simultaneous localization and mapping for home service robots. in 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015., 7158374, Institute of Electrical and Electronics Engineers Inc., International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015, Taipei, Taiwan, 15-05-29. https://doi.org/10.1109/ARIS.2015.7158374

Semi-automatically simultaneous localization and mapping for home service robots. / Lee, Chung Lin; Chen, Hsiang Ting; Lin, Yi Bin; Yen, Wei Hsin; Li, Tzuu-Hseng S.

2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015. Institute of Electrical and Electronics Engineers Inc., 2015. 7158374.

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

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Lee CL, Chen HT, Lin YB, Yen WH, Li T-HS. Semi-automatically simultaneous localization and mapping for home service robots. In 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015. Institute of Electrical and Electronics Engineers Inc. 2015. 7158374 https://doi.org/10.1109/ARIS.2015.7158374