Naslov
Correlation based approach to mobile robot pose tracking in unknown environments

Autori
Ivanjko, Edouard ; Dalbelo-Bašić, Bojana ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the ITI 2007 29th International Conference on Information Technology Interfaces / Vesna Luzer-Stiffler, Vesna Hljuz Dobrić - Zagreb : Sveučilišni računski centar Sveučilišta u Zagrebu (Srce), 2007, 445-450

ISBN
978-953-7138-10-3

Skup
ITI 2007 29th International Conference on Information Technology Interfaces

Mjesto i datum
Dubrovnik, Hrvatska; Cavtat, Hrvatska, 25.06.2007. - 28.06.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Mobile robot ; pose tracking ; histograms ; correlation ; odometry

Sažetak
The usage of mobile robots in service sector is increasing in the past decade. There are already mobile robots as night guards, tourist guides, transportation units, etc. In order to efficiently perform its task, a mobile robot has to know precisely its current pose. Also to simplify the commissioning of a mobile robot system various algorithms for map building without a human intervention have been developed. In both cases a reliable and robust pose tracking module that can compensate the influence of systematic and non- systematic localization errors in real time is crucial. This paper presents a mobile robot pose tracking approach based on subsequent laser scan readings processed by usage of histograms and correlation comparison. Results obtained with a differential drive mobile robot are given to demonstrate the capabilities of the proposed approach.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

POVEZANOST RADA