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Semantische Kartierung und Navigation für mobile Roboter by Uhl, Klaus

Semantische Kartierung und Navigation für mobile Roboter

by Klaus Uhl
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Book cover type: Paperback
  • ISBN13: 9783735784636
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Bod - Books on Demand
  • Publisher Imprint: Bod - Books on Demand
  • Publication Date:
  • Pages: 270
  • Original Price: USD 40.9
  • Language: German
  • Edition: N/A
  • Item Weight: 327 grams
  • BISAC Subject(s): General

Autonome, mobile Serviceroboter dringen in immer mehr Anwendungsgebiete vor. In klassischen Anwendungen übernehmen Fahrerlose Transportfahrzeuge (FTF) seit Jahrzehnten Transportaufgaben in der Intralogistik von Betrieben. In den letzten Jahren wurden weitere Anwendungen, z.B. in der Gebäudereinigung, der Geländeüberwachung oder in der Landwirtschaft kommerziell erschlossen. Darüber hinaus wird ein breites Spektrum an Servicerobotikanwendungen erforscht. Diese reichen von autonomen, mobilen Manipulatoren für Fertigungsaufgaben in der Produktion und Kommissionieraufgaben in der Logistik über Assistenzroboter für die Alten- und Krankenpflege bis hin zu universellen Haushaltshilfen. Bei allen diesen Anwendungen ist die Fähigkeit zur Navigation eine Grundvoraussetzung für die Autonomie der mobilen Systeme. In dieser Dissertation wird ein Navigationssystem für mobile Roboter entworfen, das semantische Information im Umweltmodell vorhält, die Bewegungsmuster des Roboters in Abhängigkeit der semantischen Eigenschaften der lokalen Umgebung flexibel steuern kann und Navigationspläne erstellt, die an die Art und Weise angelehnt sind, wie Menschen einen Weg durch eine Umgebung beschreiben. Dabei wird ein semantisches Umweltmodell entworfen, aus dem mittels eines semantischen Modells von symbolischen Roboteraktionen ein Graph von sog. "semantischen Positionen", die ausschlie lich über semantische Eigenschaften definiert sind, für die Navigationsplanung abgeleitet werden kann.

Klaus Uhl studierte von 2000 bis 2005 Informatik an der Universität Ulm. Er schloss dort 2003 mit dem "Bachelor of Computer Science" (B.Comp.Sc.) und 2005 mit dem "Master of Computer Science" (M.Comp.Sc) ab. Die Schwerpunkte des Studiums lagen im Bereich der Robotik und der künstlichen Intelligenz. Von 2005 bis 2012 war Klaus Uhl wissenschaftlicher Mitarbeiter in der Abteilung "Interaktive Diagnose- und Servicesysteme" (IDS) des FZI Forschungszentrum Informatik in Karlsruhe. Dort arbeitete er an Systemen und Algorithmen für "Fahrerlose Transportfahrzeuge" (FTF) und "Fahrerlose Transportsysteme" (FTS) und forschte an kognitiven Verfahren zur Navigation von mobilen Robotern. Seine Forschungsergebnisse flossen in seine Dissertation zum Thema "Semantische Kartierung und Navigation für mobile Roboter" ein, die er im Januar 2014 mit der Bewertung "magna cum laude" abschloss.

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