A navigation system for a high-speed professional cleaning robot

Gorka Azkune; Mikel Astiz; Urko Esnaola; Unai Antero; Jose Vicente Sogorb; Antonio Alonso

doi:10.1007/978-3-642-23232-9_3

A navigation system for a high-speed professional cleaning robot

Gorka Azkune, Mikel Astiz, Urko Esnaola, Unai Antero, Jose Vicente Sogorb, Antonio Alonso

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

This paper describes an approach to automate professional floor cleaning tasks based on a commercial platform. The described navigation system works in indoor environments where no extra infrastructure is needed and with no previous knowledge of it. A teach&reproduce strategy has been adopted for this purpose. During teaching, the robot maps its environment and the cleaning path. During reproduction, the robot uses a new motion planning algorithm to follow the taught path whilst avoiding obstacles suitably. The new motion planning algorithm is needed due to the special platform and operational requirements. The system presented here is focused on achieving human comparable performance and safety.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Proceedings
Pages	24-35
Number of pages	12
DOIs	https://doi.org/10.1007/978-3-642-23232-9_3
Publication status	Published - 2011
Event	12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011 - Sheffield, United Kingdom Duration: 31 Aug 2011 → 2 Sept 2011

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	6856 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011
Country/Territory	United Kingdom
City	Sheffield
Period	31/08/11 → 2/09/11

Access to Document

10.1007/978-3-642-23232-9_3

Cite this

Azkune, G., Astiz, M., Esnaola, U., Antero, U., Sogorb, J. V., & Alonso, A. (2011). A navigation system for a high-speed professional cleaning robot. In Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Proceedings (pp. 24-35). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6856 LNAI). https://doi.org/10.1007/978-3-642-23232-9_3

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title = "A navigation system for a high-speed professional cleaning robot",

abstract = "This paper describes an approach to automate professional floor cleaning tasks based on a commercial platform. The described navigation system works in indoor environments where no extra infrastructure is needed and with no previous knowledge of it. A teach&reproduce strategy has been adopted for this purpose. During teaching, the robot maps its environment and the cleaning path. During reproduction, the robot uses a new motion planning algorithm to follow the taught path whilst avoiding obstacles suitably. The new motion planning algorithm is needed due to the special platform and operational requirements. The system presented here is focused on achieving human comparable performance and safety.",

author = "Gorka Azkune and Mikel Astiz and Urko Esnaola and Unai Antero and Sogorb, {Jose Vicente} and Antonio Alonso",

year = "2011",

doi = "10.1007/978-3-642-23232-9_3",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

pages = "24--35",

booktitle = "Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Proceedings",

note = "12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011 ; Conference date: 31-08-2011 Through 02-09-2011",

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Azkune, G, Astiz, M, Esnaola, U , Antero, U, Sogorb, JV & Alonso, A 2011, A navigation system for a high-speed professional cleaning robot. in Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 6856 LNAI, pp. 24-35, 12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011, Sheffield, United Kingdom, 31/08/11. https://doi.org/10.1007/978-3-642-23232-9_3

A navigation system for a high-speed professional cleaning robot. / Azkune, Gorka; Astiz, Mikel; Esnaola, Urko et al.
Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Proceedings. 2011. p. 24-35 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6856 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper describes an approach to automate professional floor cleaning tasks based on a commercial platform. The described navigation system works in indoor environments where no extra infrastructure is needed and with no previous knowledge of it. A teach&reproduce strategy has been adopted for this purpose. During teaching, the robot maps its environment and the cleaning path. During reproduction, the robot uses a new motion planning algorithm to follow the taught path whilst avoiding obstacles suitably. The new motion planning algorithm is needed due to the special platform and operational requirements. The system presented here is focused on achieving human comparable performance and safety.

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Azkune G, Astiz M, Esnaola U , Antero U, Sogorb JV, Alonso A. A navigation system for a high-speed professional cleaning robot. In Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Proceedings. 2011. p. 24-35. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-642-23232-9_3

A navigation system for a high-speed professional cleaning robot

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