Laser sensor based road boundary recognition of mobile robot

Author

Hu, Zhengwei ; Wang, Hongbo ; Zhang, Lili ; Yu, Hongnian

Author_Institution

Sch. of Mech. Eng., Yanshan Univ., Qinhuangdao

fYear

2009

fDate

26-29 March 2009

Firstpage

210

Lastpage

215

Abstract

This paper presents a new method of applying laser sensor to obtain road boundary points in order to solve the road detection problems of outdoor cleaning mobile robot. This method makes full use of the advantages of laser sensor and realizes the recognition of road detection in real-time. The road boundary recognition algorithm including the feature extraction and coordinate calculation is proposed. The linear fitting and curve fitting using least square method are described. Finally, an experiment is conducted using a mobile robot and the experimental result shows the proposed method to be effective.

Keywords

curve fitting; edge detection; feature extraction; intelligent robots; least squares approximations; mobile robots; object detection; optical sensors; path planning; robot vision; service robots; coordinate calculation; curve fitting; feature extraction; intelligent robot; laser sensor; least square method; linear fitting; outdoor cleaning mobile robot; road boundary recognition; road detection; Data mining; Feature extraction; Laser fusion; Mobile robots; Navigation; Object detection; Roads; Robot sensing systems; Sensor fusion; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Networking, Sensing and Control, 2009. ICNSC '09. International Conference on

Conference_Location

Okayama

Print_ISBN

978-1-4244-3491-6

Electronic_ISBN

978-1-4244-3492-3

Type

conf

DOI

10.1109/ICNSC.2009.4919274

Filename

4919274