Title :
Real-time door detection in cluttered environments
Author :
Stoeter, Sascha A. ; Le Mauff, Frédéric ; Papanikolopoulos, Nikolaos P.
Author_Institution :
Dept. of Comput. Sci. & Eng., Minnesota Univ., Minneapolis, MN, USA
Abstract :
A mobile robot, called a ranger, equipped with a ring of sonars and a color camera is at the center of this research effort. The ranger is part of a fleet of heterogenous robots. Its task is to quickly deploy multiple smaller robots with specialized sensing capabilities, called scouts, into different rooms. In order to achieve the goal, the ranger must be able to safely navigate through potentially unknown urban environments as well as autonomously detect areas into which the scouts should be released. This paper presents the ranger´s sensing and control algorithms and reports results from several different environments
Keywords :
computerised navigation; image recognition; mobile robots; object detection; real-time systems; sonar arrays; sonar target recognition; cluttered environments; color camera; heterogenous robot fleet; mobile robot; ranger; real-time door detection; safe navigation; scout robots; sonar ring; urban environments; Cameras; Computer science; Humans; Mobile robots; Robot kinematics; Robot sensing systems; Robot vision systems; Robustness; Sonar detection; Sonar navigation;
Conference_Titel :
Intelligent Control, 2000. Proceedings of the 2000 IEEE International Symposium on
Conference_Location :
Rio Patras
Print_ISBN :
0-7803-6491-0
DOI :
10.1109/ISIC.2000.882921