An object localization and reaching method for wheeled mobile robots using laser rangefinder

This paper proposes an efficient scheme to solve the problem of identifying an object from range data and navigating to it by on line calculating and performing highly continuous paths for a precise target reaching. Our approach combines a laser range-based object localization method with the PC-sliding, a technique based upon polynomial curvature paths that are suitable for nonholonomic mobile robots and robust to measurement and model uncertainties. First the object is on-line localized using a laser rangefinder taking into account sensor and robot pose uncertainties and then a PC-path is both planned and real-time controlled with a unique strategy.

[1]  M. Pertile,et al.  Real-Time Uncertainty Estimation of Odometric Trajectory as a Function of the Actual Manoeuvres of Autonomous Guided Vehicles , 2006, Proceedings of the 2006 IEEE International Workshop on Advanced Methods for Uncertainty Estimation in Measurement (AMUEM 2006).

[2]  Rui Rodrigues,et al.  Smooth trajectory planning for fully automated passengers vehicles - spline and clothoid based methods and its simulation , 2006, ICINCO-RA.

[3]  Zhengyou Zhang,et al.  Iterative point matching for registration of free-form curves and surfaces , 1994, International Journal of Computer Vision.

[4]  Peter Biber,et al.  The normal distributions transform: a new approach to laser scan matching , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[5]  Roberto Oboe,et al.  PC-sliding for vehicles path planning and control - design and evaluation of robustness to parameters change and measurement uncertainty , 2007, ICINCO-RA.

[6]  Cristiano Premebida.  Segmentation and Geometric Primitives Extraction from 2D Laser Range Data for Mobile Robot Applications , 2005 .

[7]  F. Silva Leite,et al.  On the generation of a trigonometric interpolating curve in R3 , 2003 .

[8]  E. Iso,et al.  Measurement Uncertainty and Probability: Guide to the Expression of Uncertainty in Measurement , 1995 .

[9]  G. Champleboux,et al.  From accurate range imaging sensor calibration to accurate model-based 3D object localization , 1992, Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[10]  Wolfgang Straßer,et al.  nScan-matching: simultaneous matching of multiple scans and application to SLAM , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[11]  Bernardo Wagner,et al.  Variable Pallet Pick-Up for Automatic Guided Vehicles in Industrial Environments , 2006, 2006 IEEE Conference on Emerging Technologies and Factory Automation.

[12]  Alonzo Kelly,et al.  Continuous Control Primitive Trajectory Generation and Optimal Motion Splines for All-Wheel Steering Mobile Robots , 2006 .

[13]  Pólo de Coimbra,et al.  Segmentation and Geometric Primitives Extraction from 2D Laser Range Data for Mobile Robot Applications , 2005 .

[14]  Li Zhang,et al.  Line segment based map building and localization using 2D laser rangefinder , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[15]  Peter Cheeseman,et al.  On the Representation and Estimation of Spatial Uncertainty , 1986 .

[16]  S. Standard.  GUIDE TO THE EXPRESSION OF UNCERTAINTY IN MEASUREMENT , 2006 .

[17]  Alexander Kleiner,et al.  Self-localization in dynamic environments based on laser and vision data , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[18]  Stergios I. Roumeliotis,et al.  Weighted line fitting algorithms for mobile robot map building and efficient data representation , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[19]  Sung Joon Ahn,et al.  Least Squares Orthogonal Distance Fitting of Curves and Surfaces in Space , 2004, Lecture Notes in Computer Science.

[20]  Andrew W. Fitzgibbon,et al.  Robust Registration of 2D and 3D Point Sets , 2003, BMVC.

[21]  Mariolino De Cecco,et al.  Reactive simulation for real-time obstacle avoidance , 2006, ICINCO-RA.

[22]  Márta Szilvási-Nagy,et al.  Generating curves and swept surfaces by blended circles , 2000, Comput. Aided Geom. Des..

[23]  Günther Palm,et al.  Concurrent Object Identification and Localization for a Mobile Robot , 2000, Künstliche Intell..

[24]  Sung Joon Ahn,et al.  Extraction of Geometric Primitives from Point Cloud Data , 2005 .

[25]  Alonzo Kelly,et al.  Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control , 2003, Int. J. Robotics Res..

[26]  Urbano Nunes,et al.  Trajectory Planning with Velocity Planner for Fully-Automated Passenger Vehicles , 2006, 2006 IEEE Intelligent Transportation Systems Conference.

[27]  Mariolino De Cecco,et al.  Real-Time Uncertainty Estimation of Autonomous Guided Vehicle Trajectory Taking Into Account Correlated and Uncorrelated Effects , 2007, IEEE Transactions on Instrumentation and Measurement.

[28]  Mongi A. Abidi,et al.  Gaussian fields: a new criterion for 3D rigid registration , 2004, Pattern Recognit..