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

Fabien Launay, Akihisa Ohya, Shin'ichi Yuta

研究成果: Conference article査読

14 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)3918-3923
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
4
出版ステータスPublished - 2002 1 1
イベント2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
継続期間: 2002 5 112002 5 15

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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