A corridors lights based navigation system including path definition using a topologically corrected map for indoor mobile robots

Fabien Launay, Akihisa Ohya, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3918-3923
Number of pages6
Volume4
Publication statusPublished - 2002
Externally publishedYes
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15

Other

Other2002 IEEE International Conference on Robotics and Automation
CountryUnited States
CityWashington, DC
Period02/5/1102/5/15

Fingerprint

Navigation systems
Mobile robots
Robots
Navigation
Ceilings
Teaching
Cameras
Geometry

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Launay, F., Ohya, A., & Yuta, S. (2002). A corridors lights based navigation system including path definition using a topologically corrected map for indoor mobile robots. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3918-3923)

A corridors lights based navigation system including path definition using a topologically corrected map for indoor mobile robots. / Launay, Fabien; Ohya, Akihisa; Yuta, Shinichi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2002. p. 3918-3923.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Launay, F, Ohya, A & Yuta, S 2002, A corridors lights based navigation system including path definition using a topologically corrected map for indoor mobile robots. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 4, pp. 3918-3923, 2002 IEEE International Conference on Robotics and Automation, Washington, DC, United States, 02/5/11.
Launay F, Ohya A, Yuta S. A corridors lights based navigation system including path definition using a topologically corrected map for indoor mobile robots. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4. 2002. p. 3918-3923
Launay, Fabien ; Ohya, Akihisa ; Yuta, Shinichi. / A corridors lights based navigation system including path definition using a topologically corrected map for indoor mobile robots. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2002. pp. 3918-3923
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