LOCATING AND CROSSING DOORS AND NARROW PASSAGES FOR A MOBILE ROBOT

Zhiyu Xiang, Vitor M. F. Santos, Jilin Liu

Abstract

In structured indoor environment, the structural information gathered from sensors can be divided into three different levels whose features increase gradually: walls, corners and passages. Besides detecting walls and corners, the paper focuses on narrow passage detecting and crossing. The sensor employed in the robot is a laser range finder. By detecting the Complete Points in the laser map, two types of narrow passages are easy to find. Two immediate applications of the proposed approach emerge: localization for robots and automatic crossing of passages. The validity of the method is proved with experimental results.

References

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Paper Citation


in Harvard Style

Xiang Z., M. F. Santos V. and Liu J. (2004). LOCATING AND CROSSING DOORS AND NARROW PASSAGES FOR A MOBILE ROBOT . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 370-374. DOI: 10.5220/0001135803700374


in Bibtex Style

@conference{icinco04,
author={Zhiyu Xiang and Vitor M. F. Santos and Jilin Liu},
title={LOCATING AND CROSSING DOORS AND NARROW PASSAGES FOR A MOBILE ROBOT},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={370-374},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001135803700374},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - LOCATING AND CROSSING DOORS AND NARROW PASSAGES FOR A MOBILE ROBOT
SN - 972-8865-12-0
AU - Xiang Z.
AU - M. F. Santos V.
AU - Liu J.
PY - 2004
SP - 370
EP - 374
DO - 10.5220/0001135803700374