Localisation and Mapping Using a Laser Range Finder: A Goal-Seeking Approach
Localisation and Mapping Using a Laser Range Finder: A Goal-Seeking Approach
In this paper we examine the problem of localisation and mapping of an unknown environment using data from a laser range finder. In order to support our method we detect landmarks in the environment using the same laser finder. For the localisation and mapping process to take place we assume that the mobile robot will follow a path until a landmark is observed by the laser scanner. Our approach alleviates the requirement to provide odometry or other information. In addition, an efficient path is sought to reach target location. An inherent property of this is obstacle avoidance. The simulated experiments presented in the paper validate the effectiveness of our approach.
Diamantas, Sotirios
569b0bb8-9d90-447c-8a23-16d38f29444f
Crowder, Richard
ddeb646d-cc9e-487b-bd84-e1726d3ac023
April 2009
Diamantas, Sotirios
569b0bb8-9d90-447c-8a23-16d38f29444f
Crowder, Richard
ddeb646d-cc9e-487b-bd84-e1726d3ac023
Diamantas, Sotirios and Crowder, Richard
(2009)
Localisation and Mapping Using a Laser Range Finder: A Goal-Seeking Approach.
Fifth International Conference on Autonomic and Autonomous Systems, Valencia, Spain.
20 - 25 Apr 2009.
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Conference or Workshop Item
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Abstract
In this paper we examine the problem of localisation and mapping of an unknown environment using data from a laser range finder. In order to support our method we detect landmarks in the environment using the same laser finder. For the localisation and mapping process to take place we assume that the mobile robot will follow a path until a landmark is observed by the laser scanner. Our approach alleviates the requirement to provide odometry or other information. In addition, an efficient path is sought to reach target location. An inherent property of this is obstacle avoidance. The simulated experiments presented in the paper validate the effectiveness of our approach.
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localisation+mapping_final.pdf
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Published date: April 2009
Additional Information:
Event Dates: April 20-25
Venue - Dates:
Fifth International Conference on Autonomic and Autonomous Systems, Valencia, Spain, 2009-04-20 - 2009-04-25
Organisations:
Agents, Interactions & Complexity
Identifiers
Local EPrints ID: 267300
URI: http://eprints.soton.ac.uk/id/eprint/267300
PURE UUID: 0e577b6d-6be4-47c8-b902-1c43c83b673d
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Date deposited: 29 Apr 2009 14:39
Last modified: 14 Mar 2024 08:47
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Contributors
Author:
Sotirios Diamantas
Author:
Richard Crowder
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