DocumentCode
2342070
Title
Range-based Navigation System for a Mobile Robot
Author
MacMillan, Neil ; Allen, River ; Marinakis, Dimitri ; Whitesides, Sue
Author_Institution
Dept. of Comput. Sci., Univ. of Victoria, Victoria, BC, Canada
fYear
2011
fDate
25-27 May 2011
Firstpage
16
Lastpage
23
Abstract
In this paper we present an algorithm for path planning in a fixed range-only beacon field. We define and calculate entropy values for regions of interest and provide a method for finding "safe," low-entropy paths between regions. We go on to describe a robotic system for performing range-based localization experiments, developed using inexpensive off-the-shelf components. Our system uses a commercial robot as a mobile platform and custom acoustic beacons for ranging.
Keywords
entropy; mobile robots; path planning; commercial robot; custom acoustic beacons; entropy values; fixed range-only beacon field; mobile robot; off-the-shelf components; path planning; range sensors; range-based localization experiments; range-based navigation system; Acoustics; Entropy; Mathematical model; Navigation; Robot sensing systems; Bayesian filtering; range sensors; robot localization; robot path planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer and Robot Vision (CRV), 2011 Canadian Conference on
Conference_Location
St. Johns, NL
Print_ISBN
978-1-61284-430-5
Electronic_ISBN
978-0-7695-4362-8
Type
conf
DOI
10.1109/CRV.2011.10
Filename
5957537
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