A method for tracking the pose of a mobile robot equipped with a scanning laser range finder

Artur Dubrawski , Barbara Siemiątkowska

Abstract

One of the essential problems in navigation of a mobile robot is to accurately determine its location using data obtained by range sensors. In this paper we present a novel approach to track changes of orientation and position of a robot equipped with a scanning laser range finder and designed to work in partially structured environments. It is shown experimentally on a real robot that the proposed approach is more robust against sensory noise than the method of angle histograms, which is often used to track orientation and position of indoor vehicles equipped with scanning range sensors.
Author Artur Dubrawski
Artur Dubrawski,,
-
, Barbara Siemiątkowska IAR
Barbara Siemiątkowska,,
- The Institute of Automatic Control and Robotics
Pages2518-2523
Publication size in sheets0.5
Book Giralt Georges: Proceedings 1998 IEEE International Conference On Robotics And Automation, 1998, IEEE, ISBN 0-7803-4300-X
Keywords in Englishcellular neural nets;laser ranging;mobile robots; navigation; optical tracking; path planning
DOIDOI:10.1109/ROBOT.1998.680720
URL http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=680720
Languageen angielski
Score (nominal)10
Citation count*25 (2014-12-28)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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