DocumentCode
416646
Title
Real-time 2D map building for an unmanned vehicle in a closed area
Author
Iikura, Hiroki ; Ogawa, Shinya ; Kobayashi, Kazuyuki ; Watanabe, Kajiro
Author_Institution
Dept. of Syst. Eng., Hosei Univ., Tokyo, Japan
Volume
1
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
1081
Abstract
This paper presents an improvement to a new map-building and self-localization method for an unmanned conveyance car in a closed area. The accurate mapping is required to navigate the conveyance car. The proposed mapping method is based on the detection of straight-line segments measured by a laser rangefinder. The proposed method was verified by experiments carried out in real spaces.
Keywords
intelligent robots; laser ranging; mobile robots; position control; remote handling equipment; remotely operated vehicles; laser rangefinder; real-time 2D map building; self-localization method; straight-line segment detection; unmanned conveyance car;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1323571
Link To Document