ENVIRONMENT PERCEPTION WITH A LASER RADAR IN A FAST MOVING ROBOT

This paper describes a laser radar system and a sensor data processing algorithm, which extracts the actual orientation and position of the robot directly from the primary range data produced by the laser sensors. It is dedicated to the use of navigation tasks in the multisensory perception system of MOBOT-III, an autonomous mobile robot for indoor applications. Besides this laser radar system and its data processing procedures, the fundamental components of MOBOT-III are introduced and the main features of the environment mapping structure are presented.

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