Cart (Loading....) | Create Account
Close category search window
 

Real-time robot navigation in unstructured environments using a 3D laser rangefinder

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Montano, L. ; Dept. de Inf. e Ingenieria de Sistemas, Zaragoza Univ., Spain ; Asensio, J.R.

In this paper a technique for real-time robot navigation is presented. Off-line planned trajectories and motions are modified in real-time to avoid obstacles, using a reactive behaviour. The information about the environment is provided to the control system of the robot by a rotating 3D laser sensor which have two degrees of freedom. Using this sensor, three dimensional information can be obtained, and can be used simultaneously for obstacle avoidance, robot self-localization and for 3D local map building. In this work we focus the attention in the obstacle avoidance problem with this kind of sensor. Experimental results in different indoor environments are reported, which show the versatility of the proposed technique to carry out typical tasks such as wall following, door crossing and motion in a room with several obstacles

Published in:

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

7-11 Sep 1997

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.