Navigation methods for a mobile robot in typical office environments

摘要

For the efficient movement of an autonomous mobile robot in different environments motion control has to be adapted to the actual environment. Floors, rooms, crossings, and doors can be classified in typical office environments. For each of these structures a special method for motion control exists. These methods are superior to more general methods with respect to safety, performance, and speed. In this paper some special methods are presented. The implementation for a real robot is discussed and the results of some test runs are shown.