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Localisation and Mapping Using a Laser Range Finder: A Goal-Seeking Approach

Record type: Conference or Workshop Item (Other)

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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Citation

Diamantas, Sotirios and Crowder, Richard (2009) Localisation and Mapping Using a Laser Range Finder: A Goal-Seeking Approach At Fifth International Conference on Autonomic and Autonomous Systems, Spain. 20 - 25 Apr 2009.

More information

Published date: April 2009
Additional Information: Event Dates: April 20-25
Venue - Dates: Fifth International Conference on Autonomic and Autonomous Systems, 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

Catalogue record

Date deposited: 29 Apr 2009 14:39
Last modified: 18 Jul 2017 07:06

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Contributors

Author: Sotirios Diamantas
Author: Richard Crowder

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