Abstract
We present a methodology that simultaneously provides estimates of the self-motion of a skid-steered mobile robot and detects a moving obstacle estimating its velocity, exclusively based on laser scanner measurements. We assume an environment of linear segments and since the vehicle is skid-steered we make no use of its encoder readings. The constraints/assumptions are discussed and extensive experimental results are presented.
Original language | English (US) |
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Pages (from-to) | 7-12 |
Number of pages | 6 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 1 |
State | Published - 2003 |
Event | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: Sep 14 2003 → Sep 19 2003 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering