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This paper presents a navigation system structure for mobile service robots in the agent-based distributed architecture. The proposed navigation system is a part of the RAPP framework. The RAPP framework is an open-source software platform to support the creation and delivery of robotic applications, which are expected to increase the versatility and utility of robots. All key navigation tasks are...
The article presents a navigation system based on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. First, existing methods of 3D scene data acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described in a formal way, as well as exemplary applications that verify the...
Modern robotic systems are able to localize doors and its handle or knob, grasp the handle and open the door. Service robots need to open doors and drawers to autonomously operate in human environment. The mechanical properties of doors lead to incorporation of force and velocity constraints into the control law, to avoid the environment damage. In the article the impedance control law was expanded...
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