A perception system based on laser information for mobile robot topologic navigation

Author

Barber, R. ; Mata, M. ; Boada, M.J.L. ; Armingol, J.M. ; Salichs, M.A.

Author_Institution

Div. of Syst. Eng. & Autom., Univ. Carlos III, Madrid, Spain

Volume

4

fYear

2002

fDate

5-8 Nov. 2002

Firstpage

2779

Abstract

This paper presents a perception system for topological navigation using laser information. The localization system is based on the detection of landmarks (walls, doors and corners). A search algorithm based on Hough transform techniques for pattern recognition is used. The developed system allows the topologic localization and navigation of a mobile robot using landmarks. The resulting self-localization module has been integrated successfully in a more complicated navigation system. Various experimental results show the effectiveness of the presented algorithm.

Keywords

Hough transforms; measurement by laser beam; mobile robots; navigation; path planning; pattern recognition; telemetry; B21-RWI mobile robot; Hough transform techniques; SICK laser; corners; doors; landmarks detection; laser information; localization system; mobile robot topologic navigation; pattern recognition; perception system; search algorithm; self-localization module; software structure; walls; Clustering algorithms; Data mining; Hospitals; Mobile robots; Pattern recognition; Robot sensing systems; Robotics and automation; Service robots; Sonar navigation; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 02 [Industrial Electronics Society, IEEE 2002 28th Annual Conference of the]

Print_ISBN

0-7803-7474-6

Type

conf

DOI

10.1109/IECON.2002.1182835

Filename

1182835