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 | |
| Publication status | Published - 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