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

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

doi:10.1109/IECON.2002.1182835

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 proceeding › Conference contribution

32 Citations (Scopus)

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 language	English
Title of host publication	Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society
Subtitle of host publication	IECON 02
Publisher	IEEE
Pages	2779-2784
Number of pages	6
Volume	4
ISBN (Print)	0780374746
DOIs	https://doi.org/10.1109/IECON.2002.1182835
Publication status	Published - Feb 2003

Keywords

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

ASJC Scopus subject areas

Engineering(all)

Documents and Links

10.1109/IECON.2002.1182835

Cite this

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title = "A perception system based on laser information for mobile robot topologic navigation",

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 = "mobile robots, sonar navigation, robot sensing systems, robotics and automation, pattern recognition, data mining",

author = "R Barber and M Mata and MJL Boada and JM Armingol and MA Salichs",

year = "2003",

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doi = "10.1109/IECON.2002.1182835",

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isbn = "0780374746 ",

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AU - Barber, R

AU - Mata, M

AU - Boada, MJL

AU - Armingol, JM

AU - Salichs, MA

PY - 2003/2

Y1 - 2003/2

N2 - 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.

AB - 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.

KW - mobile robots

KW - sonar navigation

KW - robot sensing systems

KW - robotics and automation

KW - pattern recognition

KW - data mining

U2 - 10.1109/IECON.2002.1182835

DO - 10.1109/IECON.2002.1182835

M3 - Conference contribution

SN - 0780374746

VL - 4

SP - 2779

EP - 2784

BT - Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society

PB - IEEE

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

Documents and Links

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