Advertisement

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)

Abstract

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.

Keywords

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.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Bibliography

  1. C. Ye, J. Borenstein (2002), Characterization of a 2-D Laser Scanner for Mobile Robot Obstacle Negotiation, Proceedings of the 2002 IEEE ICRA, Washington DC, USA, 10–17 May, pp. 2512–2518.Google Scholar
  2. A. Vale, J. Miguel Lucas, Maria Isabel Ribeiro (2004), Feature Extraction and Selection for Mobile Robot Navigation in Unstructured Environments, Proc/ of the 5th IFAC/EURON IAV, Lisbon, 5–7 July.Google Scholar
  3. J. Z. Sasiadek and Q. Wang (2003) Low cost automation using INS/GPS data fusion for accurate positioning, Robotica, Volume 21, pp. 255–260.CrossRefGoogle Scholar
  4. J. Nsasi Bakambu, et al (2000), Heading-Aided Odometry and Range data Integration for Positioning of Autonomous Mining Vehicles, Proc. of IEEE Int. Conf. on Control Applications, Anchorage AK, Sept.Google Scholar
  5. J. Roberts et al (2000), Autonomous Control of Underground Mining Vehicles using Reactive Navigation, Proceedings of the IEEE Int. Conference on Robotics and Automation, San Francisco, April 2000Google Scholar
  6. K. Astolfi (1999), Exponential Stabilization of a Wheeled Mobile Robot via Discontinuous Control, ASME Journal of Dynamical Systems Measurements and Control, v. 121, pp. 121–125.CrossRefGoogle Scholar
  7. P. Goel, S.I. Roumeliotis, and G.S. Sukhatme (1999), Robot Localization using Relative and Absolute Position Estimates in Proc IEEE Int. Conference on Robots and Systems, October, Kyongju, Korea.Google Scholar
  8. S.T. Pfister, et al. (2002), Weighted Range Sensor Matching Algorithms for Mobile Robot Displacement Estimation. In Proc. 2002 IEEE Int. Conference on Robotics and Automation, May, Washington DCGoogle Scholar

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

Personalised recommendations