Title :
2D mapping of a closed area by a range sensor
Author :
Ogawa, Shinya ; Watanabe, Kajiro ; Kobayashi, Kazuyuki
Author_Institution :
Dept. of Syst. & Control Eng., Hosei Univ., Tokyo, Japan
Abstract :
This paper presents a new incremental map building and self-positioning method for an unmanned conveyance car in a closed area such as a factory storehouse. To navigate the conveyance car, an accurate map is required. The proposed method is based on the detection of a straight line segment measured by a laser rangefinder. The method is validated by experiments.
Keywords :
industrial robots; laser ranging; mobile robots; position measurement; remotely operated vehicles; robot vision; 2D mapping; closed area; conveyance car navigation; factory storehouse; incremental map building; laser rangefinder; range sensor; self-positioning method; straight line segment detection; unmanned conveyance car; Content addressable storage; Control engineering; Humans; Mobile robots; Power generation; Power lasers; Production facilities; Rails; Remotely operated vehicles; Vehicle driving;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195384
