A perception system based on laser information for mobile robot topologic navigation

Abstract

This paper presents a perception system for topological navigation using laser information. The localization system is based on the detection of landmarks (walls, doors and corners). A search algorithm based on Hough transform techniques for pattern recognition is used. The developed system allows the topologic localization and navigation of a mobile robot using landmarks. The resulting self-localization module has been integrated successfully in a more complicated navigation system. Various experimental results show the effectiveness of the presented algorithm.