Published October 18, 2017 | Version v1
Conference paper Open

Mobile robot localization and path planning based on Feature recognition and Dijkastra's Algorithm

  • 1. Rosas-Cervantes
  • 2. Lee
  • 3. Won

Description

This paper proposes a fast localization method, based on a simple feature recognition like a sphere. The local and the global position is obtained by scenario reconstruction, and feature recognition as the reference for localization. A 2D laser range finder mounted on a tilting mechanism scans the 3D information of the environment. The 3D workspace is divided by triangulation, and a path planned for fast obstacle avoidance created by connecting the center points of each of the generated tetrahedrons using Dijkstra’s algorithm.

Notes

17th International Conference on Control, Automation and Systems (ICCAS 2017)

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Sphered_localization_and_path_planning_06_27_2017.pdf

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