Guiding an autonomous ground vehicle through the gate based on the range data from the laser scanner is considered. This kind of operation is important for security mobile robots. Information about the gate shape is supposed to be more accurate than the geographical location of the gate. This necessitates the transition from GPS-based guidance in the open field to range-based guidance in the proximity of the gate. Recognition procedure based on the proposed concept of the gate signature is followed by Map-matching and Localization. Navigation controller makes use of the polar coordinate representation and discontinuous feedback adapted for real time applications.

Canonical Signature, Gate Signature, Mobile Robot, Vertex Point, Wheel Mobile Robot
dx.doi.org/10.1007/3-211-38927-X_57
CISM International Centre for Mechanical Sciences, Courses and Lectures
Department of Mechanical and Aerospace Engineering

Lu, Y. (Yi), Polotski, V. (Vladimir), & Sasiadek, J. (2006). Navigation of an autonomous ground vehicle - gate recognition and crossing. In CISM International Centre for Mechanical Sciences, Courses and Lectures. doi:10.1007/3-211-38927-X_57