Abstract
In this paper, we describe a method for navigation and localization of a mobile robot using sonar sensors in an indoor environment. This is an enhanced version of our previous method which assumed a perfectly known environment and perfect sensor data. We remove these assumptions by computing a roadmap and selecting geometric features of the environment for localization that are robust in terms of known sensor limitations and uncertainty. In particular, our roadmap-based navigator and localizer have been redesigned to work cooperatively. To identify geometric features, a simple sensor data filter is designed. We present simulation and hardware experiments for a robot equipped with inexpensive sonar sensors in a real environment.
| Original language | English (US) |
|---|---|
| Pages | 421-426 |
| Number of pages | 6 |
| State | Published - 2002 |
| Externally published | Yes |
| Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: Sep 30 2002 → Oct 4 2002 |
Conference
| Conference | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country/Territory | Switzerland |
| City | Lausanne |
| Period | 9/30/02 → 10/4/02 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications