Abstract
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.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 2854-2859 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| State | Published - Dec 9 2003 |
| Externally published | Yes |
| Event | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: Sep 14 2003 → Sep 19 2003 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering