Implementing Map Based Navigation in Guido, the Robotic SmartWalker

摘要

Guido is a healthcare robot that serves as support and navigation aid for the frail and visually impaired. The previous assistive navigation software has been replaced by a full map based control, including real time feature based map building (SLAM) and pose tracking (both using an EKF), and path planning and collision avoidance. Real experiments have been carried out, both in the lab and in the hospital, with great success, showing a high improvement in the ease of use and convenience of the system. The map building and editing tools have proved to be extremely useful, enabling the system to be installed in a new environment in just minutes.