LOCATING AND CROSSING DOORS AND NARROW PASSAGES FOR A MOBILE ROBOT

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

2004

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

  1. Chung, H., Yong Seek Choi, Jang Gyu Lee, 1992. Path Planning For A Mobile Robot With Grid Type World Model, lEEE/RSJ International Conference on Intelligent Robots and Systems, vol.1, pp. 439-444.
  2. Davison, A.J., Murray, D.W., 2002. Simultaneous localization and map-building using active vision, IEEE Transactions on Pattern Analysis and Machine Intelligence, Volume: 24, No. 7, pp. 865 -880.
  3. Kulich, M., Stepan, P., Preucil, L., 1999, Feature detection and map building using ranging sensors, IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems, pp 201-206.
  4. Lionis, G.S., Kyriakopoulos, K.J., 2002, A laser scanner based mobile robot SLAM algorithm with improved convergence properties, IEEE/RSJ International Conference on Intelligent Robots and System, pp. 582 -587, vol.1.
  5. Santos, V., Oliveira, E., 2001. Missões de navegação para um robot móvel baseadas em tarefas e relações topológicas do ambiente, Robotica, No. 45, pp. 14-25.
  6. de Wit, C., Siciliano, B., Bastin, G., 1997, Theory of Robot Control (Eds.), Springer.
  7. Xiang, Z., Santos V., Liu, J., 2003, Robust Mobile Robot Localization by Fusing Laser and Sonar, Proceeding of International Conference on Advanced Robotics, ICAR2003, June, Coimbra, Portugal, pp.276-280.
Download


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