Title :
Range-based Navigation System for a Mobile Robot
Author :
MacMillan, Neil ; Allen, River ; Marinakis, Dimitri ; Whitesides, Sue
Author_Institution :
Dept. of Comput. Sci., Univ. of Victoria, Victoria, BC, Canada
Abstract :
In this paper we present an algorithm for path planning in a fixed range-only beacon field. We define and calculate entropy values for regions of interest and provide a method for finding "safe," low-entropy paths between regions. We go on to describe a robotic system for performing range-based localization experiments, developed using inexpensive off-the-shelf components. Our system uses a commercial robot as a mobile platform and custom acoustic beacons for ranging.
Keywords :
entropy; mobile robots; path planning; commercial robot; custom acoustic beacons; entropy values; fixed range-only beacon field; mobile robot; off-the-shelf components; path planning; range sensors; range-based localization experiments; range-based navigation system; Acoustics; Entropy; Mathematical model; Navigation; Robot sensing systems; Bayesian filtering; range sensors; robot localization; robot path planning;
Conference_Titel :
Computer and Robot Vision (CRV), 2011 Canadian Conference on
Conference_Location :
St. Johns, NL
Print_ISBN :
978-1-61284-430-5
Electronic_ISBN :
978-0-7695-4362-8
DOI :
10.1109/CRV.2011.10
