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

R Barber, M Mata, MJL Boada, JM Armingol, MA Salichs

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    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.
    Original languageEnglish
    Title of host publicationProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society
    Subtitle of host publicationIECON 02
    PublisherIEEE
    Pages2779-2784
    Number of pages6
    Volume4
    ISBN (Print)0780374746
    DOIs
    Publication statusPublished - Feb 2003

    Keywords

    • mobile robots
    • sonar navigation
    • robot sensing systems
    • robotics and automation
    • pattern recognition
    • data mining

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  • Cite this

    Barber, R., Mata, M., Boada, MJL., Armingol, JM., & Salichs, MA. (2003). A perception system based on laser information for mobile robot topologic navigation. In Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society: IECON 02 (Vol. 4, pp. 2779-2784). IEEE. https://doi.org/10.1109/IECON.2002.1182835