Sonar-based localization of mobile robots using the Hough transform
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Authors
Latt, Khine
Subjects
Autonomous mobile robots
Hough transform
localization
Nomad 200 mobile robot
Hough transform
localization
Nomad 200 mobile robot
Advisors
Yun, Xiaoping
Date of Issue
1997-03
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
eng
Abstract
For an autonomous mobile robot to navigate in an unknown environment, it is essential to know the location of the robot on a real-time basis. Finding position and orientation of a mobile robot in a world coordinate system is a problem in localization. Dead-reckoning is commonly used for localization, but position and orientation errors from dead-reckoning tend to accumulate over time. The objective of this thesis is to develop a feature-based localization method that allows a mobile robot to re-calibrate its position and orientation by automatically selecting wall-like features in the environment. In this thesis, the selection of features is accomplished by applying the Hough transform to sonar data. The Hough transform makes it possible to select the optimal feature (the longest wall, in this case) without finding all possible line segments from the sonar data. A least-square line fitting method is then employed to construct a model of the line segment that represents the feature selected by the Hough transform. The algorithm developed was tested using synthetic and real sonar data. Experimental results demonstrated the effectiveness of the proposed localization methods
Type
Thesis
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Citation
Distribution Statement
Approved for public release; distribution is unlimited.