PYTHEAS: an Integrated Robotic System with Autonomous Navigation Capabilities
Kostas E. Bekris, K. Hatzopoulos, G.D. Kazazakis, G. Kontolemakis, Marisa Masvoula, N. Tsivourakis, Antonis Argyros, Panos E. Trahanias · 2002
In this paper we present PYTHEAS, an integrated robotic software system that supports autonomous navigation capabilities. These include localization, workspace mapping, path planning and tracking, and obstacle avoidance. PYTHEAS enables mapping of an unknown indoor environment by exploiting sensory information extracted from a laser scanner. Based on this acquired environment representation, the system is able to navigate autonomously in the mapped workspace, avoiding at the same time dynamic obstacles, such as moving persons or other objects. The developed competences are coupled in an integrated system, which can be controlled through a user-friendly interface over the web. Experimental results demonstrate the ability of the developed PYTHEAS is an integrated system, which provides the ability to a user to remotely control a robotic platform in order to (a) map an unknown environment and, (b) effectively navigate in it, avoiding dynamic obstacles. Mapping is the procedure of extracting information from the physical environment by exploiting sensory information and transforming it to an appropriate internal