Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Autonomous Navigation System of Mobile Robot Using Laser Scanner for Corridor Environment

레이저 스캐너를 사용한 이동로봇의 복도 자율 주행 시스템

  • Park, Jong-Kwan (Department of Control and Robot Engineering, Chungbuk National University) ;
  • Park, Tae-Hyeong (Department of Electronics Engineering, Chungbuk National University)
  • 박종관 (충북대학교 대학원 제어로봇공학전공) ;
  • 박태형 (충북대학교 전자공학부)
  • Received : 2015.09.08
  • Accepted : 2015.10.02
  • Published : 2015.11.01
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Abstract

This paper proposes an autonomous navigation system of mobile robots for indoor corridor environment. The system uses a laser scanner but does not use reflectors. The laser scanner measures the distance between robot and structures such as wall, pillar, and fixtures. Adaptive breakpoint detector and modified IEPF (iterative endpoint fit) are developed to find mark points from the distance data. The robot path for corridor is then generated using the angle histogram of the mark points. The experimental results are finally presented to show the effectiveness of the proposed method.

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References

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