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Localization and navigation of a mobile robot in an office-like environment

2013-04Comunicação em conferência Acesso restrito
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datacite.subject.fosEngenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
datacite.subject.sdg03:Saúde de Qualidade
datacite.subject.sdg07:Energias Renováveis e Acessíveis
datacite.subject.sdg11:Cidades e Comunidades Sustentáveis
dc.contributor.authorAlves, Paulo
dc.contributor.authorCostelha, Hugo
dc.contributor.authorNeves, Carlos
dc.date.accessioned2026-03-23T14:53:08Z
dc.date.available2026-03-23T14:53:08Z
dc.date.issued2013-04
dc.description.abstractThis article focuses on the localization and navigation of a mobile differential robot in an indoor office-like environment. These are fundamental issues to service robotics, which is a branch with a strong market growth. The work implements a vision tracking system, environment mapping, route planning and navigation for an autonomous robot application inside services buildings. One goal of the methodology is its application with low cost equipment. The test bed chosen was a Pioneer P3-DX robot [16] in a service building, with an attached USB webcam, pointed at the ceiling to take advantage of the position of the light fixtures as natural landmarks. The robot location is estimated through two distinct probabilistic methods: a particle filter, when there is no information about the starting location of the robot, and the Kalman filter, given the convergence of the particle filter. Both methods use the detection of light fixtures together with the robot kinematics as information to estimate the pose. The mapping of the environment and its obstacles is obtained from the localization estimates and the information gathered by ultrasound sensors, representing the entire navigation space discretized in the form of an occupation grid. Planning the navigation path is determined by a simple search algorithm, namely the Wavefront algorithm, based on the information contained in the occupancy grid. For a given path, navigation is performed with obstacle avoidance using the virtual forces method. Replanning is used to recover from local minima situations.eng
dc.identifier.citationP. Alves, H. Costelha and C. Neves, "Localization and navigation of a mobile robot in an office-like environment," 2013 13th International Conference on Autonomous Robot Systems, Lisbon, Portugal, 2013, pp. 1-6, doi: 10.1109/Robotica.2013.6623536.
dc.identifier.doi10.1109/robotica.2013.6623536
dc.identifier.isbn978-147991247-6
dc.identifier.urihttp://hdl.handle.net/10400.8/15946
dc.language.isoeng
dc.peerreviewedyes
dc.publisherIEEE Canada
dc.relation.hasversionhttps://ieeexplore.ieee.org/document/6623536
dc.relation.ispartof2013 13th International Conference on Autonomous Robot Systems
dc.rights.uriN/A
dc.subjectMobile Robots
dc.subjectLocalization
dc.subjectNavigation
dc.subjectMapping
dc.subjectOffice Environment
dc.titleLocalization and navigation of a mobile robot in an office-like environmenteng
dc.typeconference paper
dspace.entity.typePublication
oaire.citation.conferenceDate2013
oaire.citation.conferencePlaceLisbon, Portugal
oaire.citation.endPage6
oaire.citation.startPage1
oaire.citation.titleProceedings of the 2013 13th International Conference on Autonomous Robot Systems, ROBOTICA 2013
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
person.familyNameCostelha
person.familyNameNeves
person.givenNameHugo
person.givenNameCarlos
person.identifier0000000133901858
person.identifier.ciencia-id931E-2249-DBA3
person.identifier.ciencia-idDC15-E18A-8C59
person.identifier.orcid0000-0003-0063-8592
person.identifier.orcid0000-0003-1733-3648
person.identifier.ridV-4722-2017
person.identifier.ridF-4684-2014
person.identifier.scopus-author-id24775187600
person.identifier.scopus-author-id26768153200
relation.isAuthorOfPublicationf45387c3-8889-4588-9808-d2bcd2d5848d
relation.isAuthorOfPublicationf87e8a37-498d-4ad4-810c-3c89d3171bf0
relation.isAuthorOfPublication.latestForDiscoveryf45387c3-8889-4588-9808-d2bcd2d5848d

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