TY - GEN
T1 - uRON v1.5
T2 - 2010 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2010
AU - Choi, Sunglok
AU - Lee, Jae Yeong
AU - Yu, Wonpil
AU - Cho, Jae Il
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84869996003&partnerID=8YFLogxK
U2 - 10.1109/ARSO.2010.5679696
DO - 10.1109/ARSO.2010.5679696
M3 - Conference contribution
AN - SCOPUS:84869996003
SN - 9781424491230
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 170
EP - 175
BT - 2010 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2010 - Conference Proceedings
Y2 - 26 October 2010 through 28 October 2010
ER -