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 |
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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 | |
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)