A robot navigation approach based on 3D data fusion and real time path planning

摘要

Efficient navigation of mobile platforms in dynamic, human centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling and path planning units. In this paper, we present implemented methods in the context of data fusion algorithms for 3D (three-dimensional) world modelling, using the models for real time path planning and platform control strategies. We also show results of the prototypic application of the system at the museum ZKM (Center for Arts and Media) in Karlsruhe.