Field results of a navigation architecture with timing constraints
作者： Jorge Silva , Joao Sequeira , Cristina Santos , None
DOI: 10.1155/2015/318695
关键词: Robot 、 Mobile robot navigation 、 Mobile robot 、 Simulation 、 Computer science 、 Dependability 、 Field (computer science) 、 Stability (probability) 、 Monte Carlo method 、 Landmark
摘要: This paper presents results of field tests a mobile robot controlled by navigation architecture accounting for timing constraints in an indoor environment. Dependability properties characterize the effects disturbances on ability to successfully accomplish any assigned missions, described terms stability equilibrium state identified with goal location. The is analyzed using Contraction theory. A localization system based artificial landmarks used obtain location estimates that enable autonomously cover large distances. Monte Carlo assess under different real environment conditions including recovering from disturbing events such as landmark detection failures, kidnapping, unexpected collisions, and changes density obstacles Tests include long-run missions around 2900 m lasting 4.5 hours.
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