Feature-based localization using scannable visibility sectors Conference Paper

abstract

• This paper presents methods for navigating and localizing mobile robots in a known indoor environment. We introduce a restricted visibility concept called a scannable sector that can aid many existing navigation and localization algorithms. The scannable sectors are based on the physical characteristics of the environment and the limitations of the localization sensors used. We describe a complete navigation system that includes a scannable sector based localizer, sonar sensors, and a probabilistic roadmap path planner. Simulation and hardware results using a real robot with sonar sensors show the potential of our approach.

name of conference

• 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

authors

• Amato, Nancy

published proceedings

• 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS

author list (cited authors)

• Kim, J., Pearce, R. A., & Amato, N. M.

citation count

• 0

complete list of authors

• Kim, J||Pearce, RA||Amato, NM

publication date

• January 2003

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

keywords

• 40 Engineering
• 4007 Control Engineering, Mechatronics And Robotics
• 4009 Electronics, Sensors And Digital Hardware
• 46 Information And Computing Sciences
• 4602 Artificial Intelligence
• 4605 Data Management And Data Science

Digital Object Identifier (DOI)

• 10.1109/ROBOT.2003.1242025

International Standard Book Number (ISBN) 10

• 0-7803-7736-2

start page

• 2854

end page

• 2859

volume

• 2

URL

• http://dx.doi.org/10.1109/robot.2003.1242025