Angle-based methods for mobile robot navigation: Reaching the entire plane

被引:25
作者
Bekris, KE [1 ]
Argyros, AA [1 ]
Kavraki, LE [1 ]
机构
[1] Rice Univ, Dept Comp Sci, Houston, TX 77005 USA
来源
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词
mobile robot navigation; landmarks; homing; reachability; angle-based navigation;
D O I
10.1109/ROBOT.2004.1307416
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Popular approaches for mobile robot navigation involve range information and metric maps of the workspace. For many sensors, however, such as cameras and wireless hardware, the angle between two features or beacons is easier to measure. With these sensors' features in mind, we initially present a control law, which allows a robot with an omni-directional sensor to reach a subset of the plane by monitoring the angles of only three landmarks. By analyzing the law's properties, a second law has been developed that reaches the complementary set of points. The two methods are then combined in a path planning framework that reaches any possible goal configuration in a planar obstacle-free workspace with three landmarks. The proposed framework could be used together with other techniques, such as obstacle avoidance and topological maps, to improve the efficiency of autonomous navigation. Experiments have been conducted on a robotic platform using a panoramic camera that exhibit the effectiveness and accuracy of the proposed techniques. This work provides evidence that navigational tasks can be performed using only a small number of primitive sensor cues and without the explicit computation of range information.
引用
收藏
页码:2373 / 2378
页数:6
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