When travelling in unfamiliar environments, a mobile service robot needs to acquire information about its surroundings in order to detect and avoid obstacles to arrive safely at its destination. This paper presents a map building solution to support mobile service robot's navigation, for service robots equipped with a LADAR (laser detection and ranging) or similar technology. The LADAR is positioned in a way suitable for sensing in a three dimensional world and an AHRS (attitude and heading reference system) sensor is used to increase the robustness of the system to variations on the robot's attitude. Experimental results suggest that the developed solution can be a good option for service robots driving in urban environments.
|Title of host publication||IEEE Industrial Electronics Society|
|Publication status||Published - 1 Jan 2011|
|Event||37th Annual Conference on IEEE Industrial Electronics Society - |
Duration: 1 Jan 2011 → …
|Conference||37th Annual Conference on IEEE Industrial Electronics Society|
|Period||1/01/11 → …|