Evaluation of Mobility and Navigation Performance for Personal Robots

• 영문명: Evaluation of Mobility and Navigation Performance for Personal Robots
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Chang-hyun Ahn Kyu-ro Kim Keon Young Yi Jin-Oh Kim
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.4 No.1, 47~58쪽, 전체 12쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2003.04.01

영문 초록

  In this paper, we propose a method to evaluate the performance of mobile personal robots. A set of performance measures is proposed and the corresponding evaluation methods are developed. Different from industrial manipulators, personal robots need to be evaluated for their mobility, navigation, work, and intelligent performance in environments where human beings exist. Proposed performance measures are composed of measures for mobility including vibration, repeatability, path accuracy, and so on, as well as measures for navigation performance including wall following, overcoming doorsills, obstacle avoidance, and localization. However, work and intelligent behavior performance such as cleaning capability and high-level decision-making are not considered in this paper. To measure the proposed performances after a set of tests, we designed a standard test environment and developed measurement systems including a 3D Laser tracking system, a vision monitoring system, and a vibration measurement system. We measured the proposed performances with a mobile robot to show the results as an example.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. MOBILITY OF PERSONAL ROBOTS
Ⅲ. NAVIGATION PERFORMANCE OF PERSONAL ROBOTS
Ⅳ.  TEST ENVIRONMENT
Ⅴ. MEASUREMENT SYSTEMS
Ⅵ. TEST EXAMPLES
Ⅶ. CONCLUSION
ACKNOWLEDGEMENT
REFERENCES

키워드

terms-personal robot performance mobility navigation standard test environment measurement system