Mobile robot localization with map building and obstacle avoidance for indoor navigation

被引：0
|
作者：
Datta, S. [1 ]
Banerji, D. [1 ]
Mukherjee, R. [2 ]
机构：
[1] Cent Mech Engn Res Inst, Durgapur 713209, W Bengal, India
[2] NIT, Durgapur 713209, W Bengal, India
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-6 | 2006年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper describes mobile robot localization using laser-based maps for indoor navigation. It is shown that correlations arise between errors in the robot and map estimates, identified as fundamental to the solution of mobile robot localization. Data association method is used to update the location of existing features and to identify new features. Fuzzy Logic Controller, with Mamdani based Fuzzy Inference Engine, is used for obstacle avoidance. Experiments are carried out on a Pioneer 3-DX mobile robot equipped with sonar and laser range finders.
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页码：231 / +
页数：2
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