An approach to navigation for the humanoid robot Nao in domestic environments

Changyun Wei, Junchao Xu, Chang Wang, Pascal Wiggers, Koen Hindriks

Research output: Chapter in Book / Report / Conference proceedingConference contributionAcademicpeer-review

Abstract

Humanoid robot navigation in domestic environments remains a challenging task. In this paper, we present an approach for navigating such environments for the humanoid robot Nao. We assume that a map of the environment is given and focus on the localization task. The approach is based on the use only of odometry and a single camera. The camera is used to correct for the drift of odometry estimates. Additionally, scene-classification is used to obtain information about the robot's position when it gets close to the destination. The approach is tested in an office environment to demonstrate that it can be reliably used for navigation in a domestic environment.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers
PublisherSpringer/Verlag
Pages298-310
Number of pages13
ISBN (Print)9783662436448
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013 - Oxford, United Kingdom
Duration: 28 Aug 201330 Aug 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8069 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013
CountryUnited Kingdom
CityOxford
Period28/08/1330/08/13

Fingerprint

Humanoid Robot
Navigation
Robots
Cameras
Camera
Robot Navigation
Robot
Estimate
Demonstrate

Keywords

  • Humanoid
  • Localization
  • Navigation

Cite this

Wei, C., Xu, J., Wang, C., Wiggers, P., & Hindriks, K. (2014). An approach to navigation for the humanoid robot Nao in domestic environments. In Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers (pp. 298-310). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8069 LNAI). Springer/Verlag. https://doi.org/10.1007/978-3-662-43645-5_33
Wei, Changyun ; Xu, Junchao ; Wang, Chang ; Wiggers, Pascal ; Hindriks, Koen. / An approach to navigation for the humanoid robot Nao in domestic environments. Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers. Springer/Verlag, 2014. pp. 298-310 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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Wei, C, Xu, J, Wang, C, Wiggers, P & Hindriks, K 2014, An approach to navigation for the humanoid robot Nao in domestic environments. in Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 8069 LNAI, Springer/Verlag, pp. 298-310, 14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013, Oxford, United Kingdom, 28/08/13. https://doi.org/10.1007/978-3-662-43645-5_33

An approach to navigation for the humanoid robot Nao in domestic environments. / Wei, Changyun; Xu, Junchao; Wang, Chang; Wiggers, Pascal; Hindriks, Koen.

Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers. Springer/Verlag, 2014. p. 298-310 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8069 LNAI).

Research output: Chapter in Book / Report / Conference proceedingConference contributionAcademicpeer-review

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Wei C, Xu J, Wang C, Wiggers P, Hindriks K. An approach to navigation for the humanoid robot Nao in domestic environments. In Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers. Springer/Verlag. 2014. p. 298-310. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-662-43645-5_33