Mobile robot localization and path planning based on Feature recognition and Dijkastra's Algorithm
| Main Authors: | Vinicio, Soon-Geul, Insik |
|---|---|
| Format: | Proceeding Journal |
| Terbitan: |
, 2017
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| Subjects: | |
| Online Access: |
https://zenodo.org/record/5143820 |
Daftar Isi:
- This paper proposes a fast localization method, based on a simple feature recognition like a sphere. The local and the global position is obtained by scenario reconstruction, and feature recognition as the reference for localization. A 2D laser range finder mounted on a tilting mechanism scans the 3D information of the environment. The 3D workspace is divided by triangulation, and a path planned for fast obstacle avoidance created by connecting the center points of each of the generated tetrahedrons using Dijkstra’s algorithm.
- 17th International Conference on Control, Automation and Systems (ICCAS 2017)