Chung, W Kim, G Kim, M Lee, C 2024-01-19T14:39:14Z 2024-01-19T14:39:14Z 2022-03-07 2004 1050-4729 https://pubs.kist.re.kr/handle/201004/117070 This paper describes an integrated navigation strategy for the autonomous service robot in large-scale indoor environments. It includes architecture of navigation system, the development of crucial navigation algorithms like map, path planning, and localization, and planning scheme such as error/fault handling. Major advantages of proposed navigation are as follows: 1) A range sensor based generalized scheme of navigation without modification of the environment 2) Intelligent navigation-related components. 3) Framework supporting the selection of multiple behaviors and error/fault handling schemes. A experimental result shows the feasibility of proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task. English IEEE Integrated navigation system for indoor service robots in large-scale environments Conference 1 IEEE International Conference on Robotics and Automation, pp.5099 - 5104 IEEE International Conference on Robotics and Automation 5099 5104 US New Orleans, LA 2004-04-26 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS 000221794800821 2-s2.0-3042647449 Proceedings Paper