Topological navigation of mobile robot in corridor environment using sonar sensor

Kyoungmin Lee, Namyoung Cho, Wan Kyun Chung, Nakju Lett Doh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper presents a practical algorithm for topological navigation in corridor environment using cheap sonar sensors. Topological navigation consists of topological mapping and obstacle avoidance navigation. In this environment, it has two major problems which are 1) identifying nodes under globally similar but locally slightly different shape of corridor environment for topological mapping and 2) obstacle avoidance navigation using cheap sensors. In order to detect nodes robustly, we define the Eigenvalue Ratio (EVR) which converts geometrical shape of the environment to a quantitative value based on the Principal Component Analysis (PCA). This method is demonstrated by simulation and experiments to be robust, with the notable detail that at a given corridor intersection the method can detect a cluster of nodes defined in this manner. For safe obstacle avoidance navigation, we introduce Circle Following (CF) algorithm which uses geometry of environment and characteristics of sonar sensors. Experiments and simulation validate reliability of the CF algorithm.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages2760-2765
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Lee, K., Cho, N., Chung, W. K., & Doh, N. L. (2006). Topological navigation of mobile robot in corridor environment using sonar sensor. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 2760-2765). [4058809] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282003