Feature-based localization using scannable visibility sectors

被引：0

作者：

Kim, J ^{[1
]}

Pearce, RA ^{[1
]}

Amato, NM ^{[1
]}

机构：

[1] Texas A&M Univ, Dept Comp Sci, College Stn, TX 77843 USA

来源：

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年

关键词：

D O I：

10.1109/ROBOT.2003.1242025

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents methods for navigating and localizing mobile robots in a known indoor environment. We introduce a restricted visibility concept called a scannable sector that can aid many existing navigation and localization algorithms. The scannable sectors are based on the physical characteristics of the environment and the limitations of the localization sensors used. We describe a complete navigation system that includes a scannable sector based localizer sonar sensors, and a probabilistic roadmap path planner Simulation and hardware results using a real robot with sonar sensors show the potential of our approach.

引用

页码：2854 / 2859

页数：6

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