A method for tracking the pose of a mobile robot equipped with a scanning laser range finder

Author

Dubrawski, Artur ; Siemiatkowska, Barbara

Author_Institution

Inst. of Fundamental Technol. Res., Polish Acad. of Sci., Warsaw, Poland

Volume

3

fYear

1998

fDate

16-20 May 1998

Firstpage

2518

Abstract

One of the essential problems in navigation of a mobile robot is to accurately determine its location using data obtained by range sensors. In this paper we present a novel approach to track changes of orientation and position of a robot equipped with a scanning laser range finder and designed to work in partially structured environments. It is shown experimentally on a real robot that the proposed approach is more robust against sensory noise than the method of angle histograms, which is often used to track orientation and position of indoor vehicles equipped with scanning range sensors

Keywords

cellular neural nets; laser ranging; mobile robots; navigation; optical tracking; path planning; position control; cellular neural nets; mobile robot; navigation; orientation; pose tracking; position control; scanning laser range finder; Histograms; Laser noise; Laser transitions; Mobile robots; Navigation; Noise robustness; Optical design; Robot sensing systems; Vehicles; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680720

Filename

680720