Romansy 16 pp 455-462 | Cite as

Navigation of an Autonomous Ground Vehicle - Gate Recognition and Crossing

  • Yi Lu
  • Vladimir Polotski
  • Jurek Sasiadek
Part of the CISM Courses and Lectures book series (CISM, volume 487)


Guiding an autonomous ground vehicle through the gate based on the range data from the laser scanner is considered. This kind of operation is important for security mobile robots. Information about the gate shape is supposed to be more accurate than the geographical location of the gate. This necessitates the transition from GPS-based guidance in the open field to range-based guidance in the proximity of the gate. Recognition procedure based on the proposed concept of the gate signature is followed by Map-matching and Localization. Navigation controller makes use of the polar coordinate representation and discontinuous feedback adapted for real time applications.


Mobile Robot Vertex Point Canonical Signature Gate Signature Wheel Mobile Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Yi Lu
    • 1
  • Vladimir Polotski
    • 2
  • Jurek Sasiadek
    • 1
  1. 1.Department of Mechanical and Aerospace EngineeringCarleton UniversityOttawaCanada
  2. 2.Frontline Robotics, Ltd. of OttawaOntarioCanada

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