Moving obstacle detection for a skid-steered vehicle endowed with a single 2-D laser scanner

Kostas J. Kyriakopoulos, Nikos Skounakis

Research output: Contribution to journalConference articlepeer-review

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 languageEnglish (US)
Pages (from-to)7-12
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Moving obstacle detection for a skid-steered vehicle endowed with a single 2-D laser scanner'. Together they form a unique fingerprint.

Cite this