Topological navigation of mobile robot in corridor environment using sonar sensor

Kyoungmin Lee, Namyoung Cho, Wan Kyun Chung, Nakju 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 publicationIEEE International Conference on Intelligent Robots and Systems
Pages2760-2765
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Other

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

Fingerprint

Sonar
Mobile robots
Navigation
Collision avoidance
Sensors
Principal component analysis
Experiments
Geometry

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

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

Topological navigation of mobile robot in corridor environment using sonar sensor. / Lee, Kyoungmin; Cho, Namyoung; Chung, Wan Kyun; Doh, Nakju.

IEEE International Conference on Intelligent Robots and Systems. 2006. p. 2760-2765 4058809.

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

Lee, K, Cho, N, Chung, WK & Doh, N 2006, Topological navigation of mobile robot in corridor environment using sonar sensor. in IEEE International Conference on Intelligent Robots and Systems., 4058809, pp. 2760-2765, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.282003
Lee K, Cho N, Chung WK, Doh N. Topological navigation of mobile robot in corridor environment using sonar sensor. In IEEE International Conference on Intelligent Robots and Systems. 2006. p. 2760-2765. 4058809 https://doi.org/10.1109/IROS.2006.282003
Lee, Kyoungmin ; Cho, Namyoung ; Chung, Wan Kyun ; Doh, Nakju. / Topological navigation of mobile robot in corridor environment using sonar sensor. IEEE International Conference on Intelligent Robots and Systems. 2006. pp. 2760-2765
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