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http://dx.doi.org/10.5302/J.ICROS.2012.18.6.571

Ring Array of Structured Light Image Based Ranging Sensor and Autonomous Navigation for Mobile Robot  

Shin, Jin (Seoul National University of Science and Technology)
Yi, Soo-Yeong (Seoul National University of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.6, 2012 , pp. 571-578 More about this Journal
Abstract
In the paper, we proposed a ring type structured light image based embedded ranging sensor for a mobile robot. Since the proposed ranging sensor obtains omnidirectional object distance, it is useful for autonomous navigation of a mobile robot. By matching the local omnidirectional distance map with a given global object map, it is possible to get position and heading angle of mobile robot in the global coordinates. Experiments for matching and navigation were carried out to verify the performance of the proposed ranging sensor.
Keywords
ranging sensor; omnidirectional structured light image; mobile robot; navigation;
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Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 1
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