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
  • [41] Development of a Laser-Range-Finder-Based Human Tracking and Control Algorithm for a Marathoner Service Robot
    Jung, Eui-Jung
    Lee, Jae Hoon
    Yi, Byung-Ju
    Park, Jooyoung
    Yuta, Shin'ichi
    Noh, Si-Tae
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2014, 19 (06) : 1963 - 1976
  • [42] The Detection and Following of Human Legs Through Inductive Approaches for a Mobile Robot With a Single Laser Range Finder
    Chung, Woojin
    Kim, Hoyeon
    Yoo, Yoonkyu
    Moon, Chang-Bae
    Park, Jooyoung
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2012, 59 (08) : 3156 - 3166
  • [43] 3D indoor environment modeling by a mobile robot with omnidirectional stereo and laser range finder
    Ikeda, Suguru
    Miura, Jun
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 3435 - +
  • [44] Robust local localization of a mobile robot using a 180° 2-D laser range finder
    Muñoz, LR
    Pimentel, JJA
    Sixth Mexican International Conference on Computer Science, Proceedings, 2005, : 248 - 255
  • [45] Development of a Mobile Robot That Plays Tag with Touch-and-Away Behavior Using a Laser Range Finder
    Kasai, Yoshitaka
    Hiroi, Yutaka
    Miyawaki, Kenzaburo
    Ito, Akinori
    APPLIED SCIENCES-BASEL, 2021, 11 (16):
  • [46] Design of a laser range finder for end perception of robot arm
    Zhang, Yu
    Sun, Kui
    Zhang, Yuanfei
    Liu, Hong
    Zhu, Wanbin
    Jiqiren/Robot, 2014, 36 (05): : 519 - 526
  • [47] A PSEUDO-INTERFEROMETRIC LASER RANGE FINDER FOR ROBOT APPLICATIONS
    SRINIVASAN, V
    LUMIA, R
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1989, 5 (01): : 98 - 105
  • [48] Development of a smart laser range finder for an autonomous service robot
    Bistry, Hannes
    Poehlsen, Stephan
    Westhoff, Daniel
    Zhang, Jianwei
    2007 IEEE INTERNATIONAL CONFERENCE ON INTEGRATION TECHNOLOGY, PROCEEDINGS, 2007, : 799 - +
  • [49] Laser pose estimation and tracking using fuzzy extended information filtering for an autonomous mobile robot
    Lin, Hung-Hsing
    Tsai, Ching-Chih
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2008, 53 (02) : 119 - 143
  • [50] Laser Pose Estimation and Tracking Using Fuzzy Extended Information Filtering for an Autonomous Mobile Robot
    Hung-Hsing Lin
    Ching-Chih Tsai
    Journal of Intelligent and Robotic Systems, 2008, 53 : 119 - 143
12345