Indoor Robotic Platform for Human Servicing Using Laser Aided Odometer and Inverted Pendulum Design

M. Yeh, J. Huang

Abstract:	This paper focuses on the physical and navigational aspects of an indoor robot designed for servicing human. A few focused criteria are physical height, stability, small footprint, robustness and the ability to navigate in an indoor environment. To achieve these criteria, the robot uses an inverted pendulum control system to maintain its upright position; and uses optical encoders-based dead reckoning that is aided by a laser measurement scanner to perform indoor navigation.
Published in:	Proceedings of the ION 2013 Pacific PNT Meeting April 23 - 25, 2013 Marriott Waikiki Beach Resort & Spa Honolulu, Hawaii
Pages:	519 - 525
Cite this article:	Yeh, M., Huang, J., "Indoor Robotic Platform for Human Servicing Using Laser Aided Odometer and Inverted Pendulum Design," Proceedings of the ION 2013 Pacific PNT Meeting, Honolulu, Hawaii, April 2013, pp. 519-525.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In