A method for tracking the pose of a mobile robot equipped with a scanning laser range finder
Artur Dubrawski , Barbara Siemiątkowska
AbstractOne 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.
|Publication size in sheets||0.5|
|Book||Giralt Georges: Proceedings 1998 IEEE International Conference On Robotics And Automation, 1998, IEEE, ISBN 0-7803-4300-X|
|Keywords in English||cellular neural nets;laser ranging;mobile robots; navigation; optical tracking; path planning|
|Citation count*||25 (2014-12-28)|
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.