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

被引：0
|
作者：
Dubrawski, A [1 ]
Siemiatkowska, B [1 ]
机构：
[1] Polish Acad Sci, Inst Fundamental Technol Res, PL-00049 Warsaw, Poland
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
One of the essential problems in navigation of a mobile robot is to accurately determine its location using data obtained with range sensors. In this paper we present a novel approach to tracking 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.
引用
收藏
页码：2518 / 2523
页数：2
相关论文
共 50 条
  • [21] Three dimensional recognition of environments for a mobile robot using laser range finder
    Nishimoto, Kiyoshi
    Sagami, Atsunori
    Kaneyama, Kouich
    PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8, 2007, : 398 - +
  • [22] A Pedestrian Detection and Tracking Method for Robot Equipped with Laser Radar
    Bin, Zhu
    Rong, Zhang Jian
    Fang, Wang Yan
    Ping, Wu Jin
    INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS, 2020, 11 (06) : 33 - 38
  • [23] Fusing Range Measurements from Ultrasonic Beacons and a Laser Range Finder for Localization of a Mobile Robot
    Ko, Nak Yong
    Kuc, Tae-Yong
    SENSORS, 2015, 15 (05) : 11050 - 11075
  • [24] Development of Mobile Robot System Equipped with Camera and Laser Range Finder Realizing HOG-Based Person Following and Autonomous Returning
    Awai, Masashi
    Yamashita, Atsushi
    Shimizu, Takahito
    Kaneko, Toru
    Kobayashi, Yuichi
    Asama, Hajime
    JOURNAL OF ROBOTICS AND MECHATRONICS, 2014, 26 (01) : 68 - 77
  • [25] HOG-Based Person Following and Autonomous Returning Using Generated Map by Mobile Robot Equipped with Camera and Laser Range Finder
    Awai, Masashi
    Shimizu, Takahito
    Kaneko, Toru
    Yamashita, Atsushi
    Asama, Hajime
    INTELLIGENT AUTONOMOUS SYSTEMS 12 , VOL 2, 2013, 194 : 51 - +
  • [26] A ROTATING LASER RANGE FINDER AND ATTACHED DATA INTERPRETATION FOR USE IN AN AUTONOMOUS MOBILE ROBOT
    HINKEL, R
    KNIERIEMEN, T
    VONPUTTKAMER, E
    MICROPROCESSING AND MICROPROGRAMMING, 1988, 24 (1-5): : 411 - 418
  • [27] Mobile Robot Path Planning Using a Laser Range Finder for Environments with Transparent Obstacles
    Jung, Jin-Woo
    Park, Jung-Soo
    Kang, Tae-Won
    Kang, Jin-Gu
    Kang, Hyun-Wook
    APPLIED SCIENCES-BASEL, 2020, 10 (08):
  • [28] Algorithm to Detect Roundabout Environments for Mobile Robot Based on Laser Range Finder and Camera
    Ali, Mohammed A. H.
    Mailah, Musa
    Hing, Tang Howe
    Rahim, Mohd Akmal Baharain A.
    4TH MECHANICAL AND MANUFACTURING ENGINEERING, PTS 1 AND 2, 2014, 465-466 : 796 - 800
  • [29] Localization of a Mobile Robot Using a Laser Range Finder in a Glass-Walled Environment
    Kim, Jiwoong
    Chung, Woojin
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (06) : 3616 - 3627
  • [30] Multi-robot Cooperation Based Human Tracking System Using Laser Range Finder
    Chou, Chen Tun
    Li, Jiun-Yi
    Chang, Ming-Fang
    Fu, Li Chen
    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011,
12345