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http://dx.doi.org/10.5302/J.ICROS.2015.15.0167

Autonomous Navigation System of Mobile Robot Using Laser Scanner for Corridor Environment  

Park, Jong-Kwan (Department of Control and Robot Engineering, Chungbuk National University)
Park, Tae-Hyeong (Department of Electronics Engineering, Chungbuk National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.11, 2015 , pp. 1044-1049 More about this Journal
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.
Keywords
mobile robot; autonomous navigation; laser scanner; corridor; natural landmark;
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Times Cited By KSCI : 1  (Citation Analysis)
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