Locating and Crossing Doors and Narrow Passages for a Mobile Robot
نویسندگان
چکیده
In structured indoor environment, the structural information gathered from sensors can be divided into three different levels whose features increase gradually: walls, corners and passages. Besides detecting walls and corners, the paper focuses on narrow passage detecting and crossing. The sensor employed in the robot is a laser range finder. By detecting the Complete Points in the laser map, two types of narrow passages are easy to find. Two immediate applications of the proposed approach emerge: localization for robots and automatic crossing of passages. The validity of the method is proved with experimental results.
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