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

Kyriakopoulos, KJ; Skounakis, N

dc.contributor.author	Kyriakopoulos, KJ	en
dc.contributor.author	Skounakis, N	en
dc.date.accessioned	2014-03-01T02:42:18Z
dc.date.available	2014-03-01T02:42:18Z
dc.date.issued	2003	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30920
dc.subject	Laser Scanner	en
dc.subject	Mobile Robot	en
dc.subject	Obstacle Detection	en
dc.subject.other	Algorithms	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Kalman filtering	en
dc.subject.other	Optimization	en
dc.subject.other	Range finders	en
dc.subject.other	Signal encoding	en
dc.subject.other	Skid resistance	en
dc.subject.other	Steering	en
dc.subject.other	Tracking (position)	en
dc.subject.other	Velocity measurement	en
dc.subject.other	Laser scanner	en
dc.subject.other	Linear segments	en
dc.subject.other	Matching based tracking method	en
dc.subject.other	Obstacle detection	en
dc.subject.other	Skid steered vehicle	en
dc.subject.other	Mobile robots	en
dc.title	Moving obstacle detection for a skid-steered vehicle endowed with a single 2-D laser scanner	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2003.1241565	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2003.1241565	en
heal.publicationDate	2003	en
heal.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.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2003.1241565	en
dc.identifier.volume	1	en
dc.identifier.spage	7	en
dc.identifier.epage	12	en