The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments

被引：63

作者：

Bauer, Andrea ^{[1
]}

Klasing, Klaas ^{[1
]}

Lidoris, Georgios ^{[1
]}

Muehlbauer, Quirin ^{[1
]}

Rohrmueller, Florian ^{[1
]}

Sosnowski, Stefan ^{[1
]}

Xu, Tingting ^{[1
]}

Kuehnlenz, Kolja ^{[1
]}

Wollherr, Dirk ^{[1
]}

Buss, Martin ^{[1
]}

机构：

[1] Tech Univ Munich, Inst Automat Control Engn LSR, D-80290 Munich, Germany

来源：

INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS | 2009年 / 1卷 / 02期

关键词：

Human-robot interaction; Knowledge representation; Social robotics; Field robotics; Autonomous outdoor navigation;

D O I：

10.1007/s12369-009-0011-9

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The Autonomous City Explorer (ACE) project combines research from autonomous outdoor navigation and human-robot interaction. The ACE robot is capable of navigating unknown urban environments without the use of GPS data or prior map knowledge. It finds its way by interacting with pedestrians in a natural and intuitive way and building a topological representation of its surroundings. In a recent experiment the robot managed to successfully travel a 1.5 km distance from the campus of the Technische Universitat Munchen to Marienplatz, the central square of Munich. This article describes the principles and system components for navigation in urban environments, information retrieval through natural human-robot interaction, the construction of a suitable semantic representation as well as results from the field experiment.

引用

页码：127 / 140

页数：14

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