Guiding an autonomous ground vehicle through the gate based on the range data from the laser scanner is considered. Information about the gate shape is supposed to be more accurate than the geographical location of the gate. This necessitates the transition from GPS (Global Positioning System) 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.
Gate recognition and crossing for autonomous security robot
Torerkennung und -durchfahrt mit mobilen Sicherheitsrobotern
2006
13 Seiten, 14 Bilder, 10 Quellen
(+ 12 S. pdf-Datei)
Aufsatz (Konferenz)
Englisch