uRON v1.5: A device-independent and reconfigurable robot navigation library

2010 IEEE Workshop on Advanced Robotics and its Social Impacts Pub Date : 2010-10-01 DOI:10.1109/ARSO.2010.5679696

Sunglok Choi, Jae-Y. Lee, Wonpil Yu

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引用次数: 8

Abstract

Many laboratories and companies are developing a mobile robot with various sensors and actuators. They implement navigation techniques usually tailored to their own robot. In this paper, we introduce a novel robot navigation library, Universal Robot Navigation (uRON). uRON is designed to be portable and independent from robot hardware and operating systems. Users can apply uRON to their robots with small amounts of codes. Moreover, uRON provides reusable navigation components and reconfigurable navigation framework. It contains the navigation components such as localization, path planning, path following, and obstacle avoidance. Users can create their own component using the existing ones. uRON also includes the navigation framework which assembles each component and wraps them as high-level functions. Users can achieve their robot service easily and quickly with this framework. We applied uRON to three service robots in Tomorrow City, Incheon, South Korea. Three robots had different hardwares and performed different services. uRON enables three robots movable and satisfies complex service requirements with less than 500 lines of codes.

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uRON v1.5:一个与设备无关且可重构的机器人导航库

许多实验室和公司正在开发具有各种传感器和执行器的移动机器人。他们采用的导航技术通常是为他们自己的机器人量身定制的。本文介绍了一种新型机器人导航库——通用机器人导航库(Universal robot navigation, uRON)。uRON的设计是便携的，独立于机器人硬件和操作系统。用户可以通过少量代码将uRON应用到他们的机器人上。uRON还提供了可重用的导航组件和可重构的导航框架。它包含定位、路径规划、路径跟踪和避障等导航组件。用户可以使用现有组件创建自己的组件。uRON还包括导航框架，它组装每个组件并将它们包装为高级功能。使用该框架，用户可以方便快捷地实现自己的机器人服务。我们将uRON应用于韩国仁川明日城的三个服务机器人。三个机器人有不同的硬件和执行不同的服务。uRON使三个机器人可移动，并满足复杂的服务要求，只需不到500行代码。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2010 IEEE Workshop on Advanced Robotics and its Social Impacts

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