Title :
Laser sensor based road boundary recognition of mobile robot
Author :
Hu, Zhengwei ; Wang, Hongbo ; Zhang, Lili ; Yu, Hongnian
Author_Institution :
Sch. of Mech. Eng., Yanshan Univ., Qinhuangdao
Abstract :
This paper presents a new method of applying laser sensor to obtain road boundary points in order to solve the road detection problems of outdoor cleaning mobile robot. This method makes full use of the advantages of laser sensor and realizes the recognition of road detection in real-time. The road boundary recognition algorithm including the feature extraction and coordinate calculation is proposed. The linear fitting and curve fitting using least square method are described. Finally, an experiment is conducted using a mobile robot and the experimental result shows the proposed method to be effective.
Keywords :
curve fitting; edge detection; feature extraction; intelligent robots; least squares approximations; mobile robots; object detection; optical sensors; path planning; robot vision; service robots; coordinate calculation; curve fitting; feature extraction; intelligent robot; laser sensor; least square method; linear fitting; outdoor cleaning mobile robot; road boundary recognition; road detection; Data mining; Feature extraction; Laser fusion; Mobile robots; Navigation; Object detection; Roads; Robot sensing systems; Sensor fusion; Vehicle driving;
Conference_Titel :
Networking, Sensing and Control, 2009. ICNSC '09. International Conference on
Conference_Location :
Okayama
Print_ISBN :
978-1-4244-3491-6
Electronic_ISBN :
978-1-4244-3492-3
DOI :
10.1109/ICNSC.2009.4919274
