| Title |
Development of Evaluation Technique of Mobility and Navigation Performance for Personal Robots |
| Authors |
안창현(Ahn Chang-hyun) ; 김진오(Kim Jin-Oh) ; 이건영(Yi Keon Young) ; 이호길(Lee Ho Gil) ; 김규로(Kim Kyu-ro) |
| Keywords |
personal robot ; performance ; mobility ; navigation ; test environment ; measurement system |
| Abstract |
In this paper, we propose a method to evaluate performances 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 with its mobility, navigation, task and intelligent performance in environments where human beings exist. The 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 doorsill, obstacle avoidance and localization. But task and intelligent behavior performances such as cleaning capability and high-level decision-making are not considered in this paper. To measure the proposed performances through a series of tests, we designed a 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 result as an example. The developed systems, which are installed at Korea Agency for Technology and Standards, are going to be used for many robot companies in Korea. |