Published October 18, 2017
| Version v1
Conference paper
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Mobile robot localization and path planning based on Feature recognition and Dijkastra's Algorithm
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.
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Sphered_localization_and_path_planning_06_27_2017.pdf
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