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A perception system based on laser information for mobile robot topologic navigation

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5 Author(s)
R. Barber ; Div. of Syst. Eng. & Autom., Univ. Carlos III, Madrid, Spain ; M. Mata ; M. J. L. Boada ; J. M. Armingol
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This paper presents a perception system for topological navigation using laser information. The localization system is based on the detection of landmarks (walls, doors and corners). A search algorithm based on Hough transform techniques for pattern recognition is used. The developed system allows the topologic localization and navigation of a mobile robot using landmarks. The resulting self-localization module has been integrated successfully in a more complicated navigation system. Various experimental results show the effectiveness of the presented algorithm.

Published in:

IECON 02 [Industrial Electronics Society, IEEE 2002 28th Annual Conference of the]  (Volume:4 )

Date of Conference:

5-8 Nov. 2002