Abstract
This paper proposes an indoor navigation system for an autonomous mobile robot including the teaching of its environment. The self-localization of the vehicle is done by detecting the pose of corridors fluorescent tubes with a camera pointing to the ceiling. A map of the lights based on odometry and used later for navigation tasks is first built by remote controlling the robot. The map distortion due to positioning errors is corrected to facilitate route definition by detecting and closing open cycles extremities. Paths defined on the modified map whose geometry differs from the robot one are then converted automatically into the robot map so that the robot can refer to it and cancel odometry errors during navigation.
| Original language | English |
|---|---|
| Pages (from-to) | 3918-3923 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 4 |
| Publication status | Published - 2002 Jan 1 |
| Event | 2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States Duration: 2002 May 11 → 2002 May 15 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering