engleski

Sonar-based self-orientation of indoor mobile robots

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. Orientation estimation accuracy greatly influences the position estimation accuracy and is therefore crucial for a reliable mobile robot pose tracking. Our approach to orientation estimation is based on angle histograms matching. Angle histograms are obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of the end points and length of straight-line parts contained in obtained histograms. Sensors used for local occupancy grid generation are sonars. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.

Robotics; Electric vehicles

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