Autonomous navigation system for a mobile robot using a laser scanner in a corridor environment

摘要

This paper proposes an autonomous navigation system for a differential drive mobile robot in a corridor environment. The system uses a laser scanner and natural landmarks. The laser scanner estimates the distance of each angle between the robot and the walls of the corridor. An adaptive breakpoint detector and a modified IEPF (iterative endpoint fit) which we propose are used to find natural landmarks from raw data. We propose a method which uses an angle histogram to create a path to improve the accuracy of navigation in a corridor environment. The experimental results show that the proposed system is capable of effective navigation performance in a corridor environment.