Sonar and Laser Based HIMM Map Building for Collision Avoidance for Mobile Robots

IEEE International Symposium on Intelligent Control - Proceedings

Volumn , Issue , 2003, Pages 755-760

  Ma, Lili ^a   Moore, Kevin L ^a  

^a Utah State University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; DECISION MAKING; LASER APPLICATIONS; MAPPING; MOTION PLANNING; SENSORS; SONAR;

COMPLEX ALGORITHMS; HISTOGRAMS; LASER-BASED SENSING SYSTEMS;

MOBILE ROBOTS;

EID: 0345097308     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/isic.2003.1254730     Document Type: Conference Paper

References (16)

1. Hitesh Shah, Vikas Bahl, Jason Martin, Nicholas S. Flann, and Kevin L. Moore, "Intelligent behavior generator for autonomous mobile robots using planning-based AI decision making and supervisory control logic," in Conference on Unmanned Robotic Vehicles, Orlando, FL, April 2002.
2. Robin R. Murphy, Introduction to AI Robotics, MIT Press, November 2000.
3. J. Borenstein and Y. Koren, "Histogramic in-motion mapping for mobile robot obstacle avoidance," IEEE Journal of Robotics and Automation, vol. 7, no. 4, pp. 535-539, 1991.
4. J. Borenstein and Y. Keren, "The vector field histogramic fast obstacle avoidance for mobile robots," IEEE Journal of Robotics and Automation, vol. 7, no. 3, pp. 278-288, June 1991.
5. B. Holt, J. Borenstein, Y. Koren, and D. Wehe, "OmniNav: Obstacle avoidance for large non-circular, omnidirectional mobile robots," in International Symposium on Robotics and Manufacturing, Montpellier, France, May 1996.
6. +: Reliable obstacle avoidance for fast mobile robots," in IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21 1998, pp. 1572-1577.
7. Hong Yang, Johann Borenstein, and David Wehe, "Double-VFH: Reliable obstacle avoidance for large, non-point, omni-directional mobile robots," in IEEE International Conference on Robotics and Automation, Pittsburgh, PA, April 1999.
8. Iwan Ulrich and Johann Borenstein, "VFH*: Local obstacle avoidance with look-ahead verification," in IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000, pp. 2505-2511.
9. "Devantech SRF04 ultrasonic ranger specification," http://www.acroname.com/robotics/parts/R93-SRF04.html.
10. Gregory Dudek, Paul Freedman, and Ioannis M. Rekleitis, "Just-in-time sensing: efficiently combining sonar and laser range data for exploring unknown worlds," in IEEE International Conference on Robotics and Automation, April 1996, pp. 667-671.
11. B. Giesler, R. Graf, and R. Dillmann, "Fast mapping using the Log-Hough transformation," in International Conference on Intelligent Robots and Systems, 1998, pp. 1702-1707.
12. Jose Guivant, Eduardo Nebot, and Stefan Baiker, "High accuracty navigation using laser range sensors in outdoor applications," in International Conference on Robotic and Automation, April 2000.
13. Boris Kluge, Christian Kohler, and Erwin Prassler, "Fast and robust tracking of multiple moving objects," in IEEE International Conference on Robotics and Automation, May 2001.
14. Chieh-Chih Wang and Charles Thorpe, "Simultaneous localization and mapping with detection and tracking of moving objects," in IEEE International Conference on Robotics and Automation, May 2002.
15. "SICK LMS 221-30206 outdoor 2-D laser scanning system," http://www.sick.de.
16. Gerhard X. Ritter and Joseph N. Wilson, Handbook of Computer Vision Algorithms in Image Algebra, CRC Press, 2000.